diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c83b5af444be2e4d4015580f3e5dc4abaf39aa9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_16_32_28_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b317b9a592d757f0b387fb876529479b650a93e46c581500adaf1ad1e1d3fbd7
+size 194830099
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0d2b3781b4df4279db4a6111b60b7096e8a25ea6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b732cbf1f3e22ba9aeb3b062857406629c867e4527b3ab1b205838bd08fec5d1
+size 3110863
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..abfefe1a2c7c6ff3b18e77e9c133257a8bd7f894
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295a1a7aa4715101db452685b5295b7c0eed35f2f564c855f3867b49690dfcaa
+size 2880059
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4d76e685a181d49015cb6cb571570fdd4e0298d5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72996850c5b8038d5f2eb5d972789b1690cc5cb8a2afd3950b753bc8512bea53
+size 4159897
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e3e02cb49b8d7b6063eb01c4f416ddae36a48fd8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834300f4190912e8d6720d695da8315ce08971a30b8b1fe88dc00d5649894e52
+size 4350433
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f092cdd13db5f1a140640d0a4adb74711b2da20b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef74baaa44747ca3a599fd2df4d68709320323e5af21820c9d56af9676810a19
+size 2891590
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b05c129a91386254ab240816b93b72a04cdbc772
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1c55338fa5ac73b895197a456dd3d5d3bfec6c7765b8f71acb21b9660813e0
+size 3712100
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4cbae656c8815f57edcd5a36e9ebe9364bc06b67
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:994486a3f63f0a5a5a29197adbd38aab67322f4a90d29527b69822329885d556
+size 2484894
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..10ea938aea42862f0dd4b4d4dda8aacc563b336a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0680c1ac527e7994edacfbefd4ebcbe8c506657eeb49a325d7a2380877bbf70
+size 2997966
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1db9af69af00d4c6365e7101db0368e508006a99
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2e476300fd55339647bddf84f8815d91f9d0f2c4db878ad25e533d00438428
+size 2949191
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2d707c654a9a2e7a54d17d1a33eb212e07bfbc7f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d53964f301a2b07d5a10da12021612180c6ee5ff8a5405ff5c335eba72d0d4
+size 2898064
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..979696baeaf573e1030231f46da9248a99b3b608
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa7c0e362e24fbc2a0f9538b34e728fe076074fdc4b3c684d16bd2d420e37d8
+size 2811281
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6c0bbce27ae82d0b8df0c1767ee7f5b4f8ba6a89
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42eb544980cf7c71c5b7f7aa924e553555c4e2907260b7db95ba0fb5682e6698
+size 2480529
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d1c5565051a9fb15878cef3d69541875cb9443f4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd818683ab2b197ca01eb616c391b4c7ed77e8746220a0c627c6f11ab88da083
+size 3745126
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8194f0c20428b579ee7dac0059f5a5c2b0050d9c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db5f508b74b10e32454923e36a695e7da8290c038d705fd6ca0e73b52acc5841
+size 2937905
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8283936c7685345a63eb46f900b16c0aadfc01e6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:757b4d4a3d816f0b666bf3d8453bd5224b9d403ac554c3fb90ec45bf28fb507a
+size 2749134
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d10b116e61c1b893f67f4e13466b8d7ba092f561
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975a7bd5e690c06b8b83a38d381e5f84331676fb749ca08b4fb526b208401f84
+size 2904307
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0423c01aa3086f92d2dbd3fe4289e3792344ca20
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82179bf65550cd66e3967a6002c6f7ce05ff440c888b0557d61ad5d75843e485
+size 2781376
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..948c549b6d871dc7a5af5c6d8a96d4e0af70c57a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b912d9b93e33fa31d4247d18ce8f6ded93a70cf9796a8a4127425e9b7832812f
+size 3167782
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cd59850af8931666eb1e7c0e1408fb9c4d667205
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba887eb7af0c672b2292577327a16743d3725e654ad0e87a113c4b67aa57b98
+size 2625062
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a031abe6e32d49614a300947daf7191a54ae1d65
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a63da53de582956d7ff10ac7becd46f435bb7b1032305481c8875c4d33e7040
+size 2537357
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3754f8633a6b35bb67af72f5919eff062853d92b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a836393598ec2c325e999343b6a61dfabbbcf0ffed7980c500b890dd1195d1a
+size 3032517
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9741c0c9869103cbcf24d15679d0619fb323a793
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c1b623b64b6e5c408239b26a36623ed10c3d43106418bbe95a06767ce6147d
+size 2974272
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b44fea244128f7d16974fb37cc2c07e0fce23397
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:492973ebda5494b253118027287b60112d49a2f503376fbfb7d7718d5998cb3f
+size 3114964
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..595fa5b063e951d91911d363ba690a226350ef8a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06eef6390834da67b36db894cc1356904840ddd40d225e179eda2c845cb4342b
+size 3100790
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..593a1be2a76b11f5fee096d4d6ec0a786ed3f41b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0700b32bf51160efa97fd7d063cf842b7844a3880e44ddda5261fb0ace91d159
+size 2813063
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..00f96fcfabcd3a8b80b392f2c1877f9af97bda13
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e470aa32a3d9fb1e8f7f9b86d63a6963cfe2fe9bbef36d9aedb1cef740f63efa
+size 2585177
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1dd912d7313690c4b36d18c5cb15752aaf3f6ec9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47404d89c3e54e0e3dbdcbade4fcbb609e8118aeb1ad16570c850c38fefd4cfe
+size 3073712
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b4ec5509295235804ea1cc4ce60c9b78cb48e8eb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5021aa7cfdf62123a12704a0ca4293ddf3bb3e4f78b1144eb39d2ac60a51836a
+size 2833581
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3fcd84bde41cf55f664163dc2f62bfc6f884af88
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074bb1041e3dddfec4ddc0497e7169907fc7f8ab0fbaab5af7711264b4aeb4a8
+size 4052370
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..47095a20cdd79530b5f1e44a8289834c57369467
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad6f9db9492f532089959eb0936eed0e2f1d351d2d783b486469a2f98d1d554
+size 3141603
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..965edbd4318d00d8f1e3d1999cdbe18a31dac871
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31347f4c3d57aa6771521f2a7e2ab8eedee3611c76457890d7b4f1687565f0d
+size 2866919
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..653f3101ef03edfa617f845eb777293c7bb9abc8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6b23d55523ef741d87e673018e7ebee1599a7e5a33563319b9f74f3fe59fb5
+size 2573336
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9bf5a633dc826c97869f615e8ebc7908ad95499b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a45660d506d1fccb9b0d09991a4c093f012571815370743c3c67b3c4a8a5332
+size 3093962
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2f2746cee784e43088ee35c42a22d311a3fd0c5d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99afebf10bf946e629c50803950bbb752ce29bf024b029527f8959ab0aaf8bf8
+size 2494379
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/annotation_cache.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da573eb84be8cd6ae169b86ac75ddda0988e5b93
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1,34 @@
+{"source_uid": "feeb6a63426dcda1", "num_frames": 2414, "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "5cf8fa9c-8f57-4fa3-a437-725413e2c8b4"}, {"label": "valid", "start_step": 0, "end_step": 2381, "id": "3s4rTW6tEJtgOk3gDWik5"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 153, "end_step": 332, "id": "12f3b6c7-80dd-4a00-8e21-d05a56c99e72"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 333, "end_step": 604, "id": "30a98191-d8dc-48ee-a7a2-6a06a8a50451"}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "goal", "start_step": 605, "end_step": 816, "id": "abdfd6d6-6680-46cd-a81b-2836207e1d47"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "goal", "start_step": 817, "end_step": 916, "id": "00619ea9-03f4-4a87-91be-a4ea5996c172"}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "goal", "start_step": 917, "end_step": 1066, "id": "63684d0a-cb1b-4cd6-af88-a4390f960cc7"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "goal", "start_step": 1067, "end_step": 1144, "id": "4fd517cb-0ddb-4a17-90e7-46f3467d9401"}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 1145, "end_step": 1294, "id": "f9f4476b-6c5b-4672-8e38-05cca3c1d426"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1295, "end_step": 1370, "id": "0644c07f-64f5-496c-8a7b-1c373eeba1c8"}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "342c819f-ae54-43be-b6a0-8e6fe5fa97d3"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1515, "end_step": 1576, "id": "01e1dba4-6bfd-40ab-b288-8eb3264909c5"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1577, "end_step": 1702, "id": "f51df855-e08e-46b3-871a-5eec83aa8135"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1703, "end_step": 1782, "id": "71d2f72c-e1a0-417f-8f10-85fbb656e8fb"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1783, "end_step": 1924, "id": "797f7ede-768a-4591-88df-36ebb5491b13"}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "goal", "start_step": 1925, "end_step": 1990, "id": "aaba36c0-0d81-4325-8c52-a516512581b2"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "goal", "start_step": 1991, "end_step": 2122, "id": "bf72dc8b-371b-4c2b-a150-594a9d05277e"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "goal", "start_step": 2123, "end_step": 2196, "id": "11ac9388-aa36-4038-9c24-190a2ba2f8cf"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "goal", "start_step": 2197, "end_step": 2344, "id": "81f43a9f-019e-4ff9-a495-c575a4443849"}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}, {"label": "home", "start_step": 2382, "end_step": 2413, "id": "FEcmWbtmuZsoNwVW9-G36"}], "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}], "episode_index": 0}
+{"source_uid": "a0c3fdd16c548908", "num_frames": 2231, "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_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "70e6e44f-5ffa-4fba-9b21-0eb49168d010"}, {"label": "valid", "start_step": 0, "end_step": 2196, "id": "knFtldoanELG3arpsfZnf"}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 252, "id": "589dc0f3-787e-42dc-88ea-4fb996e53051"}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 253, "end_step": 324, "id": "c37cfdac-3cbd-4e6e-9c57-2e2346b1df32"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "goal", "start_step": 325, "end_step": 468, "id": "50e7fa64-be59-4ed4-8577-f428c8864696"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "goal", "start_step": 469, "end_step": 538, "id": "ea91f42a-bcd9-4a7f-b1ad-b8e5c82b079e"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 539, "end_step": 682, "id": "1672d8ba-5a2c-4386-97b4-abb535b768eb"}, {"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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 683, "end_step": 748, "id": "93a14d33-a770-4730-920f-8235e284f24d"}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 749, "end_step": 916, "id": "c44133f8-46cc-4390-bfce-5ccb7486292f"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "84a560d2-9f74-478f-ac23-c9b9067975b2"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "goal", "start_step": 987, "end_step": 1262, "id": "c9f22f0b-81c6-4014-b0ea-80ba63d4d525"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1263, "end_step": 1346, "id": "0c84eeb7-32d3-4cca-b215-501cfe9f2aa0"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1347, "end_step": 1462, "id": "e60a93dd-9783-4b0a-819c-95f372d1964f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1526, "id": "d6d5607c-695c-498a-b953-c8ea6707276f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1527, "end_step": 1670, "id": "f27edf5d-61c4-4a23-bebc-b6154fbb25df"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "c4373a07-4e00-4987-9310-7c32ab0da5d8"}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1741, "end_step": 1864, "id": "8f5d4d6f-a165-44c4-93bd-867759ec0662"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "goal", "start_step": 1865, "end_step": 1928, "id": "388dbe13-caac-4087-9a64-e654d6d2b82f"}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2164, "id": "4cefa2ac-56ec-4ab0-9161-230b0ee7bf89"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}, {"label": "home", "start_step": 2197, "end_step": 2230, "id": "BtTBlLohmUa4617_x8K-5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the 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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}], "episode_index": 1}
+{"source_uid": "31ce23b3576bd81b", "num_frames": 3203, "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "9c9d186b-a501-4371-8640-720c07f8b5ab"}, {"label": "valid", "start_step": 0, "end_step": 3169, "id": "Iu3B5wMBVGcANyNcmiv9B"}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 113, "end_step": 272, "id": "796491c0-8206-4be1-8e0e-0a233824453b"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 273, "end_step": 330, "id": "e92c63f4-85b2-4651-b7d2-b28046d532c1"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 331, "end_step": 898, "id": "ec3feeaa-b67f-4aed-aa62-be39c9ae8370"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 899, "end_step": 1076, "id": "3923ae2f-afee-4920-b4bc-3dc500be2200"}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1077, "end_step": 1244, "id": "7a302ce5-afaf-4d7b-88e1-fbb0ac696a4c"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "ca2ecec1-ef61-48eb-bb5f-534b3d19ac03"}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1341, "end_step": 1472, "id": "11ae9ce4-164e-4cbc-85da-d89956701924"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "goal", "start_step": 1473, "end_step": 1548, "id": "85d7eb75-bd86-4bdb-8bfa-d9c1d55ae6a2"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "goal", "start_step": 1549, "end_step": 1722, "id": "b1d5ae41-7d5e-41e9-b462-6ac9c01f41e9"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1723, "end_step": 1804, "id": "64f5bde6-8945-4e91-9a3b-b0a1158054d7"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "goal", "start_step": 1805, "end_step": 2096, "id": "6092d6a8-a3fb-4992-a557-2253ec839add"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "goal", "start_step": 2097, "end_step": 2168, "id": "3566ad32-ecec-4066-832b-8677c7f789d0"}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2169, "end_step": 2376, "id": "eae728de-748e-4709-9f46-46e6a33504fc"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "goal", "start_step": 2377, "end_step": 2458, "id": "897eab07-15be-43c8-bbaa-11aaa005878d"}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2459, "end_step": 2688, "id": "267cbfb8-f7ac-472c-9527-fc5b452ab24a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "goal", "start_step": 2689, "end_step": 2794, "id": "0f040ace-e184-4636-823c-aff13951b8cc"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "goal", "start_step": 2795, "end_step": 3134, "id": "af04ba09-9aa0-4a30-8d22-724c60a97488"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}, {"label": "home", "start_step": 3170, "end_step": 3202, "id": "w7IZbLQVVms2cRbplcjtD"}], "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}], "episode_index": 2}
+{"source_uid": "f88c07571895f118", "num_frames": 3338, "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "f7aa815c-94ca-401a-a68d-d6164505d3a4"}, {"label": "valid", "start_step": 0, "end_step": 3304, "id": "9ArBaI4R2PPnVrr7ZaXbk"}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 127, "end_step": 252, "id": "c6efb3a2-7ddc-4a20-8885-269c96674354"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"label": "goal", "start_step": 253, "end_step": 336, "id": "cf023dee-3e84-4bd0-a337-1417a30412fa"}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "goal", "start_step": 337, "end_step": 462, "id": "2f75c9f8-4ff0-4dd1-bafe-45bcba0ae05e"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "5616f542-f3fa-4eaa-9983-f4245f662c40"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "goal", "start_step": 539, "end_step": 672, "id": "dde5c213-6674-4ae0-aaa2-b067e50779f0"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "goal", "start_step": 673, "end_step": 756, "id": "47b8093a-4a88-40b7-a932-f0049c3ca3f3"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "goal", "start_step": 757, "end_step": 904, "id": "af8a1935-7083-4549-a17a-4b3a89f07fdf"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "goal", "start_step": 905, "end_step": 1012, "id": "c407210d-48bc-4480-ab0d-a633234a5528"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "goal", "start_step": 1013, "end_step": 1192, "id": "b2b2a519-9442-47b5-80f2-f3477470ec2d"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "goal", "start_step": 1193, "end_step": 1300, "id": "e50248b3-9452-48b9-9378-9e66afd7ffaf"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1301, "end_step": 1488, "id": "5c61735f-9285-442d-a9f9-1e854cdf58d4"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "goal", "start_step": 1489, "end_step": 1680, "id": "efc5ffe1-c3b9-43e4-81ae-476cf56bf143"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1681, "end_step": 2000, "id": "cb50b0da-d458-4956-9a6c-056b8aadf2a6"}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "goal", "start_step": 2001, "end_step": 2124, "id": "2079f41d-eca5-4d52-b479-e9ec22e0ab64"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "goal", "start_step": 2125, "end_step": 2768, "id": "d5d50ff5-2ea1-4371-8779-c5f00c557984"}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "goal", "start_step": 2769, "end_step": 2858, "id": "f014a59c-55bd-4375-9fc0-df76c64143a7"}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "goal", "start_step": 2859, "end_step": 3268, "id": "78641857-d5a3-4547-8a56-d552c31ae65c"}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3305, "end_step": 3337, "id": "oAY9VdfNCIO-L338fW4Pm"}], "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 3}
+{"source_uid": "3eb8c376a146752b", "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 206, "id": "76920780-e1cf-4632-bed2-5729fae29f40"}, {"label": "valid", "start_step": 0, "end_step": 2190, "id": "rFarbcaMUEJ4eKwrZ2ilu"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 207, "end_step": 388, "id": "7400a031-c386-4c66-b1bb-be02432d9a36"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 389, "end_step": 506, "id": "b9a94684-bc8e-400d-a89f-0ca9a36b36c1"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 507, "end_step": 644, "id": "b281ca2a-099c-4c57-bc28-5dc47ce83e51"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 645, "end_step": 728, "id": "484cd979-ffe1-4435-8aa5-b4cef10b8c5a"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 729, "end_step": 862, "id": "9884f2dc-7155-4828-a151-9ebe6ee1849d"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 863, "end_step": 930, "id": "3295f31b-88dc-4847-a3f2-0238666f5c25"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 931, "end_step": 1096, "id": "17e82990-c4d0-4b75-b229-1d48068c9fdb"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1097, "end_step": 1168, "id": "faad3483-eea9-4d27-bab1-4afaa84e82cc"}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1169, "end_step": 1296, "id": "e37a2b15-2d1f-469b-947d-001ae8fa6d21"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "goal", "start_step": 1297, "end_step": 1368, "id": "a0b4316c-2099-4bcd-a0b0-8abfb0783edb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1369, "end_step": 1540, "id": "211e7df9-690f-4d51-b28c-98c66ed1e5e6"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1541, "end_step": 1594, "id": "816192e5-ab31-4090-85d0-813c26fe8a52"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "goal", "start_step": 1595, "end_step": 1714, "id": "366290fa-1fc9-4f8b-b8c1-df0bf3207f34"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "goal", "start_step": 1715, "end_step": 1782, "id": "9c56dd1e-5f70-4bec-b1c1-103513749add"}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "goal", "start_step": 1783, "end_step": 1920, "id": "7132cb86-232e-4fa3-bad8-ce2d02f1f704"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2000, "id": "269b8d2d-4e25-48bf-beb8-6c616c83a6f5"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2001, "end_step": 2148, "id": "1abb5ee2-9486-4fc6-a2b2-f996f840000f"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}, {"label": "home", "start_step": 2191, "end_step": 2224, "id": "SMIHwW2X8c3qTkU1jZI0e"}], "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 toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}], "episode_index": 4}
+{"source_uid": "f9612b149378ec6b", "num_frames": 2812, "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "d2ab2afb-e33e-4bde-9aef-90242845d9b0"}, {"label": "valid", "start_step": 0, "end_step": 2778, "id": "rCTFFYJQDXRmr3ypYMVaf"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "goal", "start_step": 129, "end_step": 264, "id": "34edda0d-846d-4a3e-8f09-df0f3e4dbb13"}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 265, "end_step": 406, "id": "58f9832d-90e8-4119-b70f-88a3a547ac5e"}, {"label": "subtasks", "start_step": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 407, "end_step": 572, "id": "2e4adf39-6107-4723-8f1d-92e4e13d49f5"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 573, "end_step": 640, "id": "c36b9624-8323-4458-ad0e-88a3ebf332bd"}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "goal", "start_step": 641, "end_step": 766, "id": "00300177-62b2-49f9-87cd-f65849f82308"}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 767, "end_step": 836, "id": "e29f713d-1bcd-451d-bb39-49432bce0018"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 837, "end_step": 984, "id": "1501826e-a5b4-402b-a311-82d012fa540d"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1104, "id": "9707b1a6-7ea7-4226-8fca-29c2846dc7d1"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1105, "end_step": 1244, "id": "e929f48e-9bbe-44b3-8a0a-31c8f9b82c85"}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 1245, "end_step": 1306, "id": "dfaf9d0e-bd0e-44be-9f7d-718098b48050"}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "goal", "start_step": 1307, "end_step": 1842, "id": "1ae042ff-8783-4da0-b7a5-3e83fde456d5"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "goal", "start_step": 1843, "end_step": 1930, "id": "03a5a348-846e-492a-af16-c3627e68962a"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1931, "end_step": 2270, "id": "4f101075-1e38-4ac7-94d7-e29e23904b24"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 2271, "end_step": 2316, "id": "d7acb861-f188-4692-b743-cd8a2c1308ac"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2317, "end_step": 2480, "id": "c7b32b7e-3b73-41d8-86b6-93dffdac8e88"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "goal", "start_step": 2481, "end_step": 2548, "id": "82526737-e4ee-4215-8360-8e82c259c863"}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2549, "end_step": 2734, "id": "1c7cfefb-7bd5-486e-8c9f-1857d48c040e"}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}, {"label": "home", "start_step": 2779, "end_step": 2811, "id": "AV2cOuOkro6pJXTuyEiLZ"}], "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}], "episode_index": 5}
+{"source_uid": "f2f603a07c808a79", "num_frames": 1899, "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "5bd7b8e7-200c-4bba-967b-0c8940022552"}, {"label": "valid", "start_step": 0, "end_step": 1865, "id": "y03g1rI5dReJQYHB7jBas"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "c247f88d-b296-4367-8b76-fcfe6494f651"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "goal", "start_step": 273, "end_step": 374, "id": "a55a8d77-520e-4839-b8e0-80d921c6c9e3"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 375, "end_step": 502, "id": "3bea8261-7b2a-450e-8e01-35b8f2570d65"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "32c3d569-ca27-4434-9a3f-2824cf22f7fb"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "goal", "start_step": 577, "end_step": 684, "id": "4a4ac891-f952-44ad-b632-f3e5aa8e6ccf"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "goal", "start_step": 685, "end_step": 742, "id": "05bbb994-b551-4ed9-945f-503fb33c6f38"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "goal", "start_step": 743, "end_step": 854, "id": "5b31e4a4-9626-4d69-8235-4826be4d4c90"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "goal", "start_step": 855, "end_step": 916, "id": "517f9bea-3f08-4596-a64d-125672078394"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "goal", "start_step": 917, "end_step": 1040, "id": "4c69bf81-d703-48a2-bc3f-fa6e0c3f9167"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "goal", "start_step": 1041, "end_step": 1090, "id": "8a4ab72b-8d2d-4f51-89e6-11773306b704"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "goal", "start_step": 1091, "end_step": 1212, "id": "b9c448af-a132-4c1b-a98d-dd8817c7ac5d"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "goal", "start_step": 1213, "end_step": 1273, "id": "7137fadd-aab2-4886-8934-3532ad8ecf83"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1274, "end_step": 1425, "id": "8045d729-81e0-4573-8321-c102074f90a6"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "goal", "start_step": 1426, "end_step": 1497, "id": "91ab85b3-e664-4c7c-aa37-4a99ddf4c86d"}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1498, "end_step": 1627, "id": "5f84c7a5-7329-426f-9bdf-897d11094a8e"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "goal", "start_step": 1628, "end_step": 1682, "id": "ea57fa54-a9c6-4c29-af46-a73d8901ce99"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1683, "end_step": 1832, "id": "cea25fff-e820-48f6-8608-1113a280b9e8"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}, {"label": "home", "start_step": 1866, "end_step": 1898, "id": "lDl1rQ_pb5bH_JfSzqC7M"}], "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}], "episode_index": 6}
+{"source_uid": "4725bc20307b68e8", "num_frames": 2313, "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_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "c0499bae-6416-4d2f-9d33-e990485054fe"}, {"label": "valid", "start_step": 0, "end_step": 2280, "id": "LgFGVPjby_xGHu4iIP1hr"}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"label": "goal", "start_step": 115, "end_step": 236, "id": "553aebdb-2c41-437f-b12f-217742e01d34"}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "goal", "start_step": 237, "end_step": 300, "id": "35b8575d-6d3e-4d92-ba6b-d66f0684024a"}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 301, "end_step": 428, "id": "799b3653-86f0-4785-ab9e-ac4aa5ecfc79"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "goal", "start_step": 429, "end_step": 494, "id": "73ffdc46-9738-44ef-a13f-0d525174f261"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 495, "end_step": 628, "id": "c1250521-cfc7-4138-b124-422df7717a22"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 629, "end_step": 704, "id": "95739424-834b-48ae-9e32-fd1cbc08e4f5"}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 840, "id": "dc40c019-50f4-4a11-9ecb-4f4eab85f4b0"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 841, "end_step": 910, "id": "46b460d8-0a68-45a8-acb8-6fa14d98db23"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 911, "end_step": 1042, "id": "c80fd75e-e211-4f25-8ef8-961cff308897"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "goal", "start_step": 1043, "end_step": 1106, "id": "ea04d9f6-6926-4b19-a34a-b25454fcf6ec"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 1107, "end_step": 1278, "id": "b2f7712f-3342-4b46-b294-10e816e7f080"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1279, "end_step": 1356, "id": "87f4c209-1cdd-406c-b683-6c24554432c9"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "goal", "start_step": 1357, "end_step": 1476, "id": "e5319563-7663-4613-9297-c73cb5a58344"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1477, "end_step": 1702, "id": "966dd3ce-38fe-4933-97cd-bf5f5ae42b0e"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1703, "end_step": 1918, "id": "00daf765-e040-4f6f-bb40-13e2e13bdd67"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "goal", "start_step": 1919, "end_step": 1988, "id": "9d1a9e9c-3faf-456a-8827-ba54b0b8f379"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "goal", "start_step": 1989, "end_step": 2240, "id": "6e668818-b4cd-4610-bf5f-0a19e2ec0a6d"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2281, "end_step": 2312, "id": "5ZYpNqcBmUMS9YfLTEwPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 915, "end_step": 929, "id": "reasoning-language-00029", "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 upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}], "episode_index": 7}
+{"source_uid": "de63a19283a52074", "num_frames": 2268, "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: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "5f24c1fd-5251-4d7f-9538-6d080cd75a2a"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "4snvr5FY8zirJXOn8yD8x"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "c41ed086-caf6-42e1-ae29-adf169c2379d"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "goal", "start_step": 263, "end_step": 318, "id": "91f08658-ec06-4763-be91-26cf17747d7a"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "goal", "start_step": 319, "end_step": 440, "id": "ee787952-a4a5-48d4-bc44-a19139b57cd7"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"label": "goal", "start_step": 441, "end_step": 508, "id": "9e30871e-6004-4386-94a5-aa93dac631c1"}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "goal", "start_step": 509, "end_step": 636, "id": "5fcd9456-7f17-44d6-9d93-8ca6a2be3e32"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "goal", "start_step": 637, "end_step": 690, "id": "ca662b34-b709-443c-b047-755d6f48b6c2"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "goal", "start_step": 691, "end_step": 898, "id": "bfbedeca-35ab-4559-b8b6-7b622e1f2bef"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 899, "end_step": 968, "id": "f1a62489-5c5a-4975-8eb3-8244706afe49"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 969, "end_step": 1096, "id": "ab74144b-1082-4858-a125-c47ddd9c6e16"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "goal", "start_step": 1097, "end_step": 1166, "id": "6e36c7eb-998a-4ddd-aac7-bc5aff904a41"}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1167, "end_step": 1340, "id": "a5c9c466-6a11-4aa0-9492-f451a5e37667"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "goal", "start_step": 1341, "end_step": 1412, "id": "ff30526e-d82b-4207-9eb1-5e464b9b0d9e"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1536, "id": "b03bc50f-49a9-48c6-81f1-8926308dfe5b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "goal", "start_step": 1537, "end_step": 1606, "id": "c2c64cce-c124-4188-8ce4-2e7910c82c27"}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "goal", "start_step": 1607, "end_step": 1728, "id": "6469a593-68aa-4ce3-bdb8-f77cc993bf84"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "goal", "start_step": 1729, "end_step": 2042, "id": "8176d90c-6b77-4119-8d07-fad79a25ae5d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "goal", "start_step": 2043, "end_step": 2204, "id": "73620ded-55aa-4990-8028-feea7b22d9be"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}, {"label": "home", "start_step": 2236, "end_step": 2267, "id": "-_bG7owt4Elo5D_Og-6tw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}], "episode_index": 8}
+{"source_uid": "20cf0f55485f3e96", "num_frames": 2190, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "goal", "start_step": 0, "end_step": 131, "id": "ec0a8284-a74a-46cc-99fb-b202960ffb1a"}, {"label": "valid", "start_step": 0, "end_step": 2159, "id": "SGAETsWYjMtsLL4mro4kR"}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "goal", "start_step": 132, "end_step": 317, "id": "808eeb64-5bbd-4dc1-93cc-8c5ef6320b1e"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 318, "end_step": 403, "id": "f59b4878-ad7b-42e8-a895-d27ce9653626"}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "goal", "start_step": 404, "end_step": 541, "id": "9421a49b-7eb2-427c-997d-08f375d6cb9e"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 542, "end_step": 651, "id": "b480a561-9281-499f-b6e1-dd38e7c6148d"}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "goal", "start_step": 652, "end_step": 805, "id": "31aa75bc-7698-44dc-8788-d5529054470b"}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "goal", "start_step": 806, "end_step": 885, "id": "93aa7cfc-ef90-454c-8e28-74b7aae4e9cd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "goal", "start_step": 886, "end_step": 1055, "id": "19cda1a2-1940-40ca-8d02-f182ac86d370"}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 1056, "end_step": 1125, "id": "908ef127-4ceb-4bf2-8354-e1c5cd20233e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 1126, "end_step": 1275, "id": "40831c15-836f-4a75-9f33-c681568a6131"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "goal", "start_step": 1276, "end_step": 1343, "id": "540b14eb-2681-4b6c-a546-b05d1ce017cf"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "goal", "start_step": 1344, "end_step": 1497, "id": "aad94708-4b29-4925-92fe-7d8dc14997d5"}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1498, "end_step": 1575, "id": "c0678055-9528-4efa-916f-bd22cebc3933"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1576, "end_step": 1707, "id": "57d549e9-811f-4f38-9c8a-b9ee2215f8e8"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1708, "end_step": 1775, "id": "0384ec77-d96f-4dd4-a6ab-d41f31257aa1"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 1776, "end_step": 1889, "id": "462ad151-5272-43d1-b3bd-59c8e704afbf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1890, "end_step": 1969, "id": "6e0a19ba-5add-4f84-92ac-784065fc9c39"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "goal", "start_step": 1970, "end_step": 2129, "id": "ab6484b1-93ab-4572-9ed1-46d7b8f9aa0d"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}, {"label": "home", "start_step": 2160, "end_step": 2189, "id": "oF46G2MdRKFXqWrBvEf1h"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}], "episode_index": 9}
+{"source_uid": "4e73e40859ba5a55", "num_frames": 2153, "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": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "1c406381-180a-48b5-ac96-4f57a238204f"}, {"label": "valid", "start_step": 0, "end_step": 2118, "id": "mTo3Z4vfe_gjIWlrw62S2"}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "9e2fdb67-957e-4753-bf77-893e232872bd"}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"label": "goal", "start_step": 263, "end_step": 336, "id": "619e621b-dc14-4e02-a7b8-22adb38628eb"}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 337, "end_step": 474, "id": "ea268527-e294-476d-b117-221b26abf21b"}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 475, "end_step": 560, "id": "b8f28524-b61b-470e-b5e0-0f3c705a08e9"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "goal", "start_step": 561, "end_step": 700, "id": "bc21b1eb-0b72-47b3-938d-9d7ef7616515"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "goal", "start_step": 701, "end_step": 770, "id": "f1443ce1-9f5a-4c25-be9e-e0eedb708190"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 771, "end_step": 892, "id": "6da482b8-eb19-4575-8640-e712d88096cd"}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "goal", "start_step": 893, "end_step": 940, "id": "15a820d3-97c8-4318-8ab3-39ffa7b3a808"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 941, "end_step": 1110, "id": "da9a4477-0ab3-4212-9433-cca1a317bbf6"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1111, "end_step": 1178, "id": "26188c68-b913-412c-964c-533af839ddaa"}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1179, "end_step": 1304, "id": "ca85693b-6735-41c0-81e0-854ff6c5a0b0"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1305, "end_step": 1380, "id": "bb94d764-5c25-4251-afaf-2d83bc519f23"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "goal", "start_step": 1381, "end_step": 1492, "id": "016e052b-4652-4f1e-91ef-ead1a86d86e5"}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1493, "end_step": 1542, "id": "64b5ae5a-af41-461b-917e-24c168306dc1"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1543, "end_step": 1828, "id": "f2fe4ee2-cae8-4de1-bfb4-7e7f00245ac5"}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 1829, "end_step": 1900, "id": "ffde345f-a08c-4102-9227-fedf6cd50455"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1901, "end_step": 2080, "id": "8c1ea5b0-8e5f-4820-a6a0-12eb4b87930a"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}, {"label": "home", "start_step": 2119, "end_step": 2152, "id": "l-zHwHxWxLScDUi_IT7ES"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}], "episode_index": 10}
+{"source_uid": "eb3106b747608e30", "num_frames": 1913, "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "02881dfe-f01c-4928-87dc-bd727633bebd"}, {"label": "valid", "start_step": 0, "end_step": 1879, "id": "oB95DqVw5qdnrhDwynOuE"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 125, "end_step": 250, "id": "002aba7f-8c8c-4d2c-aa2e-6299147e29b8"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 306, "id": "07a4da69-13ac-454d-bffa-e84f412994a9"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 307, "end_step": 412, "id": "810343a4-411c-4369-977d-4e58ee4bc888"}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "8e5f1d89-245a-4430-a7c0-546f5cb52857"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 485, "end_step": 602, "id": "52a7cda8-2584-4742-85f0-ed64ce17ee79"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 672, "id": "48031adc-9d56-43a1-b295-0b9171a38cf5"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 673, "end_step": 780, "id": "e2bc82cc-8109-449e-a3a1-a553b56000cb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "goal", "start_step": 781, "end_step": 838, "id": "404b4946-e614-4c45-b534-036cf65def3e"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "goal", "start_step": 839, "end_step": 946, "id": "4c18154f-d65e-4fdc-99d6-cf2b019d2f9a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "goal", "start_step": 947, "end_step": 1027, "id": "ed404359-5730-4fd3-b586-5fe4cda71a2f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "goal", "start_step": 1028, "end_step": 1149, "id": "8d66f271-e06f-4518-bf39-4dfc11f6aa81"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"label": "goal", "start_step": 1150, "end_step": 1217, "id": "a06d88e0-fb6a-4887-81ed-2295e469acb8"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1218, "end_step": 1341, "id": "0a722039-322e-40ee-94ef-f0e67d579e3f"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1342, "end_step": 1389, "id": "4a11f1c6-0cac-4114-baab-b6f3be4974f8"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "goal", "start_step": 1390, "end_step": 1615, "id": "a9f4fc36-096d-4dd4-a553-58230d2caa80"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1670, "id": "a27b9cd5-6749-468f-80ea-10f4fcc96a1e"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1840, "id": "eddc1451-450a-4dd3-981d-cd401f6d3ae2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}, {"label": "home", "start_step": 1880, "end_step": 1912, "id": "VriRrtEIwEpmLqO5h5FUY"}], "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}], "episode_index": 11}
+{"source_uid": "ed4435a753b3fa7d", "num_frames": 2861, "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 slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "3604304a-21e7-4e23-a9b4-973dd3f50c6b"}, {"label": "valid", "start_step": 0, "end_step": 2825, "id": "ZUwC-x4TJteRGUR2csokV"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "goal", "start_step": 129, "end_step": 242, "id": "7a6e7f16-ee32-4ca4-a493-81324756a62f"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "goal", "start_step": 243, "end_step": 302, "id": "2badc2d3-18ba-4159-8e89-b291292f6d18"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 303, "end_step": 448, "id": "e9bd8b57-2a8d-4d91-be56-c425b9d9d14d"}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "goal", "start_step": 449, "end_step": 536, "id": "7d92a177-4090-4bc5-a33e-1b063bd89c38"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 537, "end_step": 736, "id": "0eacf741-4072-4390-a138-cc190eb6afb4"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "goal", "start_step": 737, "end_step": 802, "id": "e4b2d993-3e1a-41de-b7eb-3a6aa280ffdd"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 803, "end_step": 976, "id": "7973ed70-216d-4ec8-9d79-9ebda510b44c"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 977, "end_step": 1336, "id": "73e23755-dc9e-4340-ac66-de8c78a251fb"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "goal", "start_step": 1337, "end_step": 1764, "id": "c9bd651d-f94f-4fd6-b7e4-74b937c55371"}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "goal", "start_step": 1765, "end_step": 1852, "id": "bd4dcf6b-7929-4af3-ac4d-6bb5acabf239"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "goal", "start_step": 1853, "end_step": 1988, "id": "1c5a6865-5831-43e3-bf2a-d5506874e026"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "goal", "start_step": 1989, "end_step": 2054, "id": "a2f10d60-825e-419c-badd-1dd0c2c8339c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 2055, "end_step": 2182, "id": "47ca82f9-32c6-4fd7-aa84-5310532de89c"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "goal", "start_step": 2183, "end_step": 2244, "id": "30649320-5a31-4e48-9ecb-f19e8a9813d0"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2245, "end_step": 2386, "id": "66e72caf-5b3f-4e7b-87be-3cbdd27c9efa"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "goal", "start_step": 2387, "end_step": 2460, "id": "29cabce7-08d8-4137-956b-0009511240df"}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2461, "end_step": 2786, "id": "0270c309-68e5-4a9a-9ddb-9ed359d6b144"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}, {"label": "home", "start_step": 2826, "end_step": 2860, "id": "SXacUpSLr4rZ7VKj517ul"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}], "episode_index": 12}
+{"source_uid": "36211cdb9507676d", "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "75c084d8-fe04-4e75-9fac-c8baa828d909"}, {"label": "valid", "start_step": 0, "end_step": 2147, "id": "cXGQLHtaqWpxKajkoish9"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 117, "end_step": 264, "id": "ae3b61d0-c38b-49e5-83d6-000d2ea0d0a8"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 265, "end_step": 322, "id": "feeb57b1-3ee7-4a4f-8dd7-bfcc3304b6d4"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "goal", "start_step": 323, "end_step": 444, "id": "0f1507c4-db5d-431e-b8ee-847e49c6d4ba"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 445, "end_step": 506, "id": "62d5ee83-2919-44cb-8ff9-57a8871901b8"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 507, "end_step": 666, "id": "41f6b11a-8bd8-4f41-9811-e392e06e9c47"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 667, "end_step": 982, "id": "8fa8f528-9010-4575-9f69-54a5f2557cf8"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "goal", "start_step": 983, "end_step": 1114, "id": "e0617ed4-79e2-4254-8708-ba5a0a9d5e6d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1115, "end_step": 1178, "id": "24333d80-4369-4958-b5c1-dbc34b961df4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1179, "end_step": 1296, "id": "a702df4a-a256-48aa-9387-41210db79b39"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1384, "id": "e0b79632-a87c-46a4-b287-9d22991e83c2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1385, "end_step": 1514, "id": "261758ab-2218-4b59-bebb-ffb70dc37090"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "goal", "start_step": 1515, "end_step": 1588, "id": "0054db04-fe61-45e4-b5d9-2fc93199f436"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1589, "end_step": 1704, "id": "6d88813e-4807-4853-a7fc-a333f89428cf"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1705, "end_step": 1764, "id": "4fe28195-ab26-4078-a051-92dedc8ce828"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1765, "end_step": 1894, "id": "88f4e589-adbb-4941-87b8-9a027fc67aab"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "goal", "start_step": 1895, "end_step": 1960, "id": "33b017b5-a4a1-420f-8f46-07748237927a"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "goal", "start_step": 1961, "end_step": 2100, "id": "a10fe01b-ed0f-45f5-8fd4-f95eb3ab8630"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}, {"label": "home", "start_step": 2148, "end_step": 2181, "id": "igu0b7srSWMw0LCa9-yJ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}], "episode_index": 13}
+{"source_uid": "58bfcc32399d1a99", "num_frames": 2086, "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, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "54486ea7-a634-4e75-8475-3314b9e9afcc"}, {"label": "valid", "start_step": 0, "end_step": 2050, "id": "tp0FZQ7FZdkLcnULwZxLO"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "goal", "start_step": 147, "end_step": 306, "id": "18a29c0e-9291-4fe2-bac1-7c9b5790eb8a"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "goal", "start_step": 307, "end_step": 382, "id": "93857fee-6a2a-475a-9604-0c26a3f0b0a9"}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "goal", "start_step": 383, "end_step": 514, "id": "73c7c013-8fec-4669-afbf-574cba185449"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "goal", "start_step": 515, "end_step": 612, "id": "d8a21ca4-3fab-4be9-9405-4a0c2d5437bf"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 613, "end_step": 754, "id": "0e383bf6-54ad-4686-86cc-4cbfa0652ef2"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "goal", "start_step": 755, "end_step": 816, "id": "5f39697e-d9f6-47c0-bb66-a0f40a830c16"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 817, "end_step": 952, "id": "a0c33a45-8ef7-464f-9322-2f1554292183"}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "goal", "start_step": 953, "end_step": 1018, "id": "f1be01fc-616b-4837-8619-281d0da2a01f"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 1019, "end_step": 1128, "id": "736d993e-44de-48d2-a65b-cd2a6e4e94b6"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "goal", "start_step": 1129, "end_step": 1220, "id": "a74f8f43-cda0-4464-be0b-2282fef73210"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "goal", "start_step": 1221, "end_step": 1470, "id": "36b03942-0278-4511-a496-0a140041fe58"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "goal", "start_step": 1471, "end_step": 1540, "id": "8d3e3d16-930b-45dd-be96-54f8336cfdd8"}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1541, "end_step": 1646, "id": "f42b006d-4f77-4575-a5bf-e8be9c66d94d"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "goal", "start_step": 1647, "end_step": 1702, "id": "3a465733-a591-4077-a75a-b5cb72f372bd"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 1703, "end_step": 1818, "id": "8449e205-81da-49f0-a6e6-6f7a42b60228"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "goal", "start_step": 1819, "end_step": 1882, "id": "da9a009b-2007-48d9-ae7a-358a391152ef"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1883, "end_step": 2010, "id": "b224ea87-2176-46bc-b6fc-760b29251a05"}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2051, "end_step": 2085, "id": "nz8Nwa0-9uMLhv92oLp3p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}], "episode_index": 14}
+{"source_uid": "f9f2ccd418a5175c", "num_frames": 2212, "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 on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "acd48c68-74b5-4748-a71f-cb4508e22279"}, {"label": "valid", "start_step": 0, "end_step": 2178, "id": "rjZSLFxLAh1bjdWZe-Ua4"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "goal", "start_step": 143, "end_step": 308, "id": "13edbd35-f5bb-426b-82be-7ce7f1f5e524"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "goal", "start_step": 309, "end_step": 368, "id": "c5512fe9-0491-421a-8c32-eaf26fcced39"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 369, "end_step": 508, "id": "5b315363-0dc6-40b8-a03f-a437665d0349"}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "goal", "start_step": 509, "end_step": 574, "id": "81714e28-4b2b-465e-8344-41083060a2a7"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "goal", "start_step": 575, "end_step": 706, "id": "fdfd922a-da6d-4a52-89d5-6e8559fc80e1"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "goal", "start_step": 707, "end_step": 824, "id": "e1ce5b26-96f3-4cf4-9a16-ec954005455e"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "goal", "start_step": 825, "end_step": 964, "id": "ac77b08d-a3dc-4273-b6c1-959049822a21"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "goal", "start_step": 965, "end_step": 1083, "id": "57e0e392-bf1d-4f96-9e2f-bcdd837d20a0"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "goal", "start_step": 1084, "end_step": 1205, "id": "2f907a4a-b3cd-4502-b04d-72681b969e49"}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "goal", "start_step": 1206, "end_step": 1279, "id": "48df63c9-d501-41b9-9cc4-1302bc849ea8"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "goal", "start_step": 1280, "end_step": 1453, "id": "66426fb9-ee8c-48b8-ac13-962356a428c7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "goal", "start_step": 1454, "end_step": 1523, "id": "09aa97f6-b514-4d6a-b513-84d72a1587bb"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "goal", "start_step": 1524, "end_step": 1695, "id": "b42bccf1-f7d8-48ba-84f4-e5ed1fe6d35f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "goal", "start_step": 1696, "end_step": 1773, "id": "e4596cb0-0a62-4299-94e4-453a2878a1eb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 1774, "end_step": 1915, "id": "8bc2c716-f9c0-4403-af88-c92965d11cd8"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "goal", "start_step": 1916, "end_step": 1993, "id": "fa01223a-8e26-417c-9d5b-d9a10916d8e5"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1994, "end_step": 2127, "id": "fb8eabfe-7ffc-4d60-b360-8ae54b0abc15"}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}, {"label": "home", "start_step": 2179, "end_step": 2211, "id": "jKWlZ8M_eyHhsxI5mz57L"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}], "episode_index": 15}
+{"source_uid": "6d9d984a8ca9dfe5", "num_frames": 2118, "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "2d548adb-b4ba-4470-8d3c-674e9349de86"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "LSaYJhsRLOJ9lFqwM95p9"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 149, "end_step": 300, "id": "b57f4046-d171-4c48-b27a-ef0b9eaad1ed"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 378, "id": "4e4be3f7-f618-491e-955d-1aada782fae0"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 379, "end_step": 526, "id": "c4dafc6b-272e-46c1-9dd5-e6e445e2eaf0"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 527, "end_step": 586, "id": "72577ee3-6e2c-4b1f-a419-7ddaadc4ee72"}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 587, "end_step": 728, "id": "56c8f382-47f4-413a-883b-c5d15aa699d3"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 729, "end_step": 802, "id": "9b583d6d-da50-4294-bfb4-68dfe6a66e48"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 956, "id": "61b13558-75a3-4556-9661-38cfe2c33bb6"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 957, "end_step": 1020, "id": "b619b62b-0b3e-4a9d-9338-fc006c854206"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1186, "id": "f4e32ea3-29f5-4e15-93ea-2e9c991285af"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1250, "id": "fb805c80-62e2-415b-9d15-e3af1b824887"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1251, "end_step": 1396, "id": "b565c9e4-d8c6-4cc1-b395-6b7b24e0fe85"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1397, "end_step": 1476, "id": "06d73fd3-a5fd-4009-a567-ae305df99e41"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "goal", "start_step": 1477, "end_step": 1620, "id": "ddbd7d38-fe7b-458b-b09d-6d163e347afe"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1621, "end_step": 1698, "id": "a2059bda-72e1-45ae-bd26-540f636648be"}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "goal", "start_step": 1699, "end_step": 1844, "id": "ebe31849-e55e-4eeb-b6f8-8ffe6e3a2802"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "goal", "start_step": 1845, "end_step": 1906, "id": "dc62884f-a637-4fe3-bcae-6c85702c3686"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "goal", "start_step": 1907, "end_step": 2038, "id": "227355d7-37e4-4219-b476-02c3c29920e3"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}, {"label": "home", "start_step": 2085, "end_step": 2117, "id": "JZr0X48o01BOdfTLE6VdK"}], "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}], "episode_index": 16}
+{"source_uid": "071e3df8697f39a3", "num_frames": 2433, "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "e253e0ae-2fba-4038-8efe-e5cf7a139ab7"}, {"label": "valid", "start_step": 0, "end_step": 2400, "id": "57xhHvkK-WMY5mfP9A7Bb"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "goal", "start_step": 119, "end_step": 234, "id": "5370f79d-aaee-4dbf-9768-77816546deb1"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "goal", "start_step": 235, "end_step": 312, "id": "f7bba1de-ee4e-4252-876f-366a473e9450"}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "goal", "start_step": 313, "end_step": 436, "id": "c5fe3045-e9a2-41b7-8e0c-0e698c4e3a34"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "goal", "start_step": 437, "end_step": 502, "id": "0c532cb4-e594-4e92-89ed-f3ed6257a15d"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 503, "end_step": 636, "id": "9ac848ac-e65a-474c-91a4-5e5a90f18350"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "goal", "start_step": 637, "end_step": 720, "id": "378efe45-cf36-422b-8dd7-c2b02c68fd26"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 721, "end_step": 1046, "id": "4cf11b78-5d9c-4462-9f70-a5b69bb8690b"}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "goal", "start_step": 1047, "end_step": 1092, "id": "76d1c379-dff1-4204-98c2-41a9802fe9f0"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1093, "end_step": 1308, "id": "97c32a9b-564c-4c58-b404-303316de3537"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "goal", "start_step": 1309, "end_step": 1380, "id": "67e2b594-a048-4efd-a59f-2a4965ef92e2"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "goal", "start_step": 1381, "end_step": 1528, "id": "a20191ac-1065-471b-95c9-a8c24cf071f2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "goal", "start_step": 1529, "end_step": 1602, "id": "8abcd9f2-f2bd-4a2c-bae7-b82a7039bdb2"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1680, "id": "b62bd8bc-e005-4230-bdb7-aada72f01530"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1681, "end_step": 1874, "id": "481126ac-20b7-4f96-9d2e-628107ec62dc"}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1875, "end_step": 2020, "id": "aeb3f65b-0c76-4b35-b923-5e5c193a640e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "goal", "start_step": 2021, "end_step": 2090, "id": "dbeaabae-dbfd-4023-add6-37e306655bef"}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2372, "id": "b4f5bd4b-b933-4197-a6e1-d2fb6956e301"}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}, {"label": "home", "start_step": 2401, "end_step": 2432, "id": "uRZtBjk5Rtg56WyHT2Vi9"}], "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}], "episode_index": 17}
+{"source_uid": "ed948361a07917de", "num_frames": 2023, "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: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "eeebd467-ca4b-408a-af1c-e440a61b923a"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "2zk7-56aEmMWnKHyio66H"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 296, "id": "1d611090-03f5-4ebf-ab01-451d5a87c617"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "goal", "start_step": 297, "end_step": 362, "id": "7fc51a06-c853-4038-8552-21200bff522c"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "goal", "start_step": 363, "end_step": 488, "id": "f65fbc7a-e5eb-4ddb-84b5-b3343eb9d53d"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "goal", "start_step": 489, "end_step": 559, "id": "f9c9d34a-b044-4ad5-9509-b02c560a9996"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "goal", "start_step": 560, "end_step": 701, "id": "81052293-981a-4a24-8508-a3e2a66f4092"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 702, "end_step": 765, "id": "f4e19e23-7571-4106-a0c0-18f0eb934d95"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 766, "end_step": 929, "id": "cdb40033-b6c6-46ff-98a0-03b3a0523d8a"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 930, "end_step": 1005, "id": "770e1805-faaf-44f4-a099-f098d47a1a7c"}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "goal", "start_step": 1006, "end_step": 1133, "id": "9bf8e2d9-7088-485a-8299-98837d128966"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "goal", "start_step": 1134, "end_step": 1197, "id": "e0d18531-c6e2-429a-8b23-8b00a1c61d9c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "goal", "start_step": 1198, "end_step": 1313, "id": "3b60ae54-4761-4224-b48a-13c4c3347476"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 1314, "end_step": 1391, "id": "cecac0e8-5c92-4e37-857f-ebd0b8dfeaab"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1392, "end_step": 1519, "id": "8289047f-5eab-4028-9a56-4e4f59e2c384"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "goal", "start_step": 1520, "end_step": 1589, "id": "f123be94-728c-47a3-9fcc-a055c32e47f2"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1753, "id": "d1593560-0c0a-4a4e-8165-9f0e9aa01afa"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 1754, "end_step": 1811, "id": "4e481856-9654-41f2-a7f5-8582c5e03a83"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "goal", "start_step": 1812, "end_step": 1949, "id": "b2b1cd6d-9be5-4de6-a6cc-a7322588c267"}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}, {"label": "home", "start_step": 1991, "end_step": 2022, "id": "Qs29bBuEOmi2CZM_xuMxO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}], "episode_index": 18}
+{"source_uid": "f2041b13e6e8d424", "num_frames": 1920, "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: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 127, "id": "b530e6e0-4075-4fec-b3cc-0a76da92c85d"}, {"label": "valid", "start_step": 0, "end_step": 1887, "id": "dvrgAnId85d6sfg2IcTIb"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 128, "end_step": 269, "id": "8c83851a-959e-4fd1-9a53-f3c880b9f8f3"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 270, "end_step": 331, "id": "4a30d006-8d39-47df-a8fa-7baee1fa68b2"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "goal", "start_step": 332, "end_step": 445, "id": "83810567-129f-422e-9023-d01036ed5f7b"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 507, "id": "1a549c76-0c20-4f63-95a0-25f2c4c47c66"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 508, "end_step": 613, "id": "86c83d37-a2e9-4cc4-a5d8-1039bf55a069"}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 614, "end_step": 669, "id": "65119adf-9bd8-4649-a301-4dad1d62f864"}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "goal", "start_step": 670, "end_step": 761, "id": "3e8df3b9-955b-4724-a0e4-8561cd22389d"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 762, "end_step": 837, "id": "62897ca8-4cc9-4bfb-8bed-4eb142155056"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "goal", "start_step": 838, "end_step": 967, "id": "6e3eec90-bc67-456c-ba95-e9945d720d1c"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "goal", "start_step": 968, "end_step": 1039, "id": "603d80d5-1138-4ffd-9d7a-b970cf13b790"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "goal", "start_step": 1040, "end_step": 1165, "id": "4211fabb-0550-414f-be7a-d7b6712dc4cc"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "goal", "start_step": 1166, "end_step": 1239, "id": "29a5fc7e-1355-4c04-9cc3-80acdfbfef9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1240, "end_step": 1351, "id": "e6612ab4-c2f1-4fe9-b2f5-9537f491d5a5"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1352, "end_step": 1413, "id": "27a60d09-56d7-4ddb-9f63-f62ef54f9f3b"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1414, "end_step": 1541, "id": "804a0dda-64b6-4deb-89f8-4ed8a349aa3f"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 1542, "end_step": 1653, "id": "63a21528-c6aa-42f2-9ce6-d982d9328488"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "goal", "start_step": 1654, "end_step": 1837, "id": "d4713a9a-f523-4599-9d5e-b556caa12d5d"}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}, {"label": "home", "start_step": 1888, "end_step": 1919, "id": "Rc84RRsT_Ke0RUm8lKKdv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}], "episode_index": 19}
+{"source_uid": "3a1303e2febd2064", "num_frames": 2329, "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": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "7b932916-def8-4f6b-a0b5-9ac4197890e4"}, {"label": "valid", "start_step": 0, "end_step": 2297, "id": "L9OVipnax-0NY6JqGNOTg"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 143, "end_step": 302, "id": "90f9e768-a4f1-495a-bd64-2f0e94ec8d3c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "goal", "start_step": 303, "end_step": 398, "id": "20ee45c4-fc6b-424b-b101-b89708c5aaba"}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 399, "end_step": 522, "id": "9d4504ba-cf06-46c2-ae62-563d01f25dbb"}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "8a1763cb-1c27-4969-a68c-89ca7a442551"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "de7c3d17-a934-42b3-b1c5-e9d3afe4d37e"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "goal", "start_step": 741, "end_step": 792, "id": "d44c3500-3022-4d7a-87ce-2e58d118d042"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 793, "end_step": 910, "id": "bd719c92-6279-4a0e-9d7f-0723eab8c010"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "goal", "start_step": 911, "end_step": 1036, "id": "ee6905c3-e5ab-4299-8051-fc953d10d7cc"}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "goal", "start_step": 1037, "end_step": 1264, "id": "6ddb4121-eb9b-46ae-bae3-c1f82f238af7"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1334, "id": "a0f5efca-a9cd-4609-9751-6d15e21afa72"}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1335, "end_step": 1500, "id": "4ad2274b-58e7-4586-8be0-0c554df21551"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1570, "id": "7965f650-4269-4662-930b-4128f7a082e0"}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "goal", "start_step": 1571, "end_step": 1696, "id": "ff071a33-85b8-4e90-89b0-c15a9228c409"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "goal", "start_step": 1697, "end_step": 1754, "id": "3e800d1b-d4b8-4ceb-8a46-bce4eb5d46cb"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 1755, "end_step": 1976, "id": "31988f46-1719-43fa-8c89-9bb9eca8fa25"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1977, "end_step": 2114, "id": "68280a6d-af57-4c39-9f29-48c5a9f6962c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2115, "end_step": 2262, "id": "3a0e7d9b-705e-430b-8c70-01b158c4e60b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}, {"label": "home", "start_step": 2298, "end_step": 2328, "id": "3q2wo8S7WFBWhqnbAfews"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}], "episode_index": 20}
+{"source_uid": "583240a391765b19", "num_frames": 2298, "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "54c0da18-d642-48fa-a88a-3ec1eb6a617c"}, {"label": "valid", "start_step": 0, "end_step": 2261, "id": "8I9t2KE13OXj_Upcz0C15"}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"label": "goal", "start_step": 129, "end_step": 276, "id": "5c1439e8-2ff7-4a82-91b4-a3a8ad4024fe"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 277, "end_step": 356, "id": "51ef5809-c6f9-46eb-83c2-387e94a01849"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 357, "end_step": 494, "id": "e55ddd60-c09d-46a0-ba0b-b116b3a47974"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 495, "end_step": 576, "id": "7000443b-1338-48f4-a3b6-fc624a7f0050"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "goal", "start_step": 577, "end_step": 802, "id": "2db83ae0-32b3-499a-a708-514e06055ce1"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 803, "end_step": 878, "id": "cfced2f7-1123-4cc5-9490-f0bd05f923ea"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 879, "end_step": 990, "id": "ab8eb5e4-6bc1-4d4a-b237-248953d6d7d5"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1066, "id": "eeb63474-7b00-4d07-afca-c0361b27a82b"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "goal", "start_step": 1067, "end_step": 1186, "id": "157cd3e0-3d2a-4fab-a243-56fa6df8178a"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1276, "id": "336ddc62-14b0-42ba-b3dd-4b31ac3ce123"}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1277, "end_step": 1388, "id": "dc9feeb2-266a-4ff7-9c7c-6d134f7846f7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1389, "end_step": 1440, "id": "5da7d5c3-bdf0-4a01-9ff6-db02a545f3f0"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "goal", "start_step": 1441, "end_step": 1558, "id": "037a83b0-1054-4336-8957-5d4f0df1d7d3"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "goal", "start_step": 1559, "end_step": 1629, "id": "fa4fc280-7bef-463a-bb25-9c815fcbca56"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "goal", "start_step": 1630, "end_step": 1757, "id": "3e0d92ae-e8a4-47eb-b39f-07d170ba345e"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "goal", "start_step": 1758, "end_step": 2005, "id": "8bc35d09-2de6-4df8-b6f3-2750cbb14313"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "goal", "start_step": 2006, "end_step": 2227, "id": "af01a969-f483-411b-af2a-e7393803f6d5"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}, {"label": "home", "start_step": 2262, "end_step": 2297, "id": "UJrcCm678pGSR5XYAMbCD"}], "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}], "episode_index": 21}
+{"source_uid": "f9000861d46dc5e6", "num_frames": 2401, "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "d613e7da-8f73-4ff6-8b72-f57edf2fd5ed"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "TwykzoF3_8OGfHDMbiYyo"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 123, "end_step": 238, "id": "4704ed47-0702-4fd2-a94f-06963fc572b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "goal", "start_step": 239, "end_step": 310, "id": "69b00d5d-9354-45e3-892c-3c74968061b6"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "goal", "start_step": 311, "end_step": 438, "id": "361107c5-ee97-4310-8882-1974bd40fed4"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 439, "end_step": 552, "id": "e95e1b53-a85f-4c18-a2d0-abb81adbbeac"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 553, "end_step": 682, "id": "9300becc-5d05-4e7d-b687-be20eca4a483"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "goal", "start_step": 683, "end_step": 772, "id": "ad2af707-523d-44f4-8226-ca174b0c01c7"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 773, "end_step": 902, "id": "7b479347-8af8-40ce-8b0d-d56fc8f98ce0"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "3cc43ec5-14bc-4a5a-84f1-dc3bf5d28710"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 975, "end_step": 1094, "id": "794e2dcc-aff2-4c46-a7d8-7fefa9128f8b"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1095, "end_step": 1180, "id": "c5e39abb-4859-4612-b674-1451202e13ff"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "goal", "start_step": 1181, "end_step": 1426, "id": "7bf4000d-a9b1-4359-8f46-d24dd3b885a7"}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "goal", "start_step": 1427, "end_step": 1504, "id": "61abe14a-aa76-40a8-8713-367fd51e6709"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 1505, "end_step": 1754, "id": "0db00174-12f5-4f13-acd0-719cb4edc8a6"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"label": "goal", "start_step": 1755, "end_step": 1840, "id": "e1a5f462-c9ed-45b0-b27d-02f9ee4fb33f"}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "goal", "start_step": 1841, "end_step": 2082, "id": "fcfc6362-5846-444f-8550-4040415384c6"}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "goal", "start_step": 2083, "end_step": 2188, "id": "8d4c62bf-fda2-4b7e-8e43-0bc3a0279466"}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "goal", "start_step": 2189, "end_step": 2330, "id": "fed5f54c-65cc-4e36-84a4-716c055b64a6"}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}, {"label": "home", "start_step": 2365, "end_step": 2400, "id": "tP_2WXqe5N241CiTPMlcq"}], "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}], "episode_index": 22}
+{"source_uid": "fdf59a469cf3c4b7", "num_frames": 2396, "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: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0d571dbb-81ce-42a7-bc39-a728108f1dcc"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "LRZ30F36g8E3lDK44NW-u"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 222, "id": "e951b3f2-eb7d-4820-9c5e-e87c52dec6fe"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 223, "end_step": 310, "id": "b709d484-d4bf-42ce-9ecb-d6c2bdfc5301"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 311, "end_step": 412, "id": "1c8f01d9-2522-4d96-a1ba-13d3467a86e8"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "46cce65c-bf69-476b-9fdb-285b7e6fc4b8"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "goal", "start_step": 485, "end_step": 638, "id": "b07df91b-fbfa-4c2f-a992-2caa5b193eff"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 639, "end_step": 710, "id": "643dd5c4-aa75-4cc5-b78f-ba3a8b6b5088"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 711, "end_step": 928, "id": "78eed047-a797-4bd3-be5d-dfbd16cb4874"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 929, "end_step": 1018, "id": "becf39d4-5600-4836-be61-f64d9e721c90"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1019, "end_step": 1340, "id": "09e10546-3e44-4f13-acae-cbbd2c5a79d3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1341, "end_step": 1430, "id": "6872869b-7db1-4d2f-bd8d-95af89b93c0b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1431, "end_step": 1574, "id": "5fa6cd59-72e8-4c44-b0f8-3ade94f4b07c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1575, "end_step": 1694, "id": "a73fd8e5-74fa-4776-8a46-b3eae29c5168"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1695, "end_step": 1792, "id": "2f254fe8-b92f-434b-b00a-14d4b9b9782a"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "goal", "start_step": 1793, "end_step": 1882, "id": "b1b6b422-988b-4735-b527-2fba325ce9c1"}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "goal", "start_step": 1883, "end_step": 2086, "id": "2c6e151c-ac68-41d7-81af-f0ca69eb2882"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "goal", "start_step": 2087, "end_step": 2174, "id": "5fd5e7d2-1da5-4c27-b22b-179f60087b35"}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "goal", "start_step": 2175, "end_step": 2330, "id": "a99015d3-0538-40c2-82be-b93e4a257d22"}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}, {"label": "home", "start_step": 2365, "end_step": 2395, "id": "41kAw_FkHgETj_DIL3JWc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}], "episode_index": 23}
+{"source_uid": "d18b46ce61cc1ac6", "num_frames": 2161, "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_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "b603c8ec-dfbd-4aba-b5aa-0f325476ba98"}, {"label": "valid", "start_step": 0, "end_step": 2128, "id": "hf9_ixf4g44F8dYMasgGy"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "goal", "start_step": 127, "end_step": 268, "id": "5ecd2754-b04f-4cd5-aeb0-71a61726c195"}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "goal", "start_step": 269, "end_step": 342, "id": "f4f68bc5-a69d-4602-8a87-ef57684ec7bf"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "goal", "start_step": 343, "end_step": 502, "id": "1129e729-5696-4058-a618-f0e8472eb0bd"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 566, "id": "22de959e-ad5e-4350-b711-5fd1bc01c5a0"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 567, "end_step": 734, "id": "0476f68f-33b6-4a75-8b71-5bf3c67da37a"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 735, "end_step": 814, "id": "33f54a61-2411-4cd1-b8f4-dda8fd934910"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 815, "end_step": 940, "id": "6d885bc3-7aef-44af-8ce0-69e9325d1b40"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 941, "end_step": 998, "id": "196c5070-f748-4ca3-90fc-a52561ba89d4"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "goal", "start_step": 999, "end_step": 1136, "id": "7af2ccf6-30e0-4015-bb21-f501dc1fba9d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1224, "id": "29a3579c-a727-43ec-888c-53cbf6e0f1cd"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1225, "end_step": 1350, "id": "b2a5f583-d46f-4f08-a5b2-bb6910faf2ab"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "goal", "start_step": 1351, "end_step": 1434, "id": "0313216b-0b81-4e90-abe2-3bef133bea75"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1606, "id": "068e2c80-ae88-4110-865b-41bbdccfaa93"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1607, "end_step": 1680, "id": "7b5b7754-f2ff-4a94-aa5c-0571e7c2eb72"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1681, "end_step": 1838, "id": "c543e3f2-2354-4a95-b7e9-db77de80c907"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "goal", "start_step": 1839, "end_step": 1898, "id": "e051a83e-a4fb-4086-bf03-99cb5912426e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1899, "end_step": 2082, "id": "ec0c10b8-c3d6-4f1c-a171-0f81f267c40e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}, {"label": "home", "start_step": 2129, "end_step": 2160, "id": "K6KCpKWGhhxvpJJJZ8kI_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}], "episode_index": 24}
+{"source_uid": "c23fe238c6cde478", "num_frames": 1994, "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: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "34393b05-7a23-48f1-bf43-9d049599c80a"}, {"label": "valid", "start_step": 0, "end_step": 1961, "id": "ci9ADBpZL05a7CaDv9KYs"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "goal", "start_step": 123, "end_step": 298, "id": "6bca4a10-8919-4249-a7f9-78aad97be19d"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "goal", "start_step": 299, "end_step": 372, "id": "a552ef9d-c3fa-4fe2-bfbd-40e32ee24c98"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "goal", "start_step": 373, "end_step": 522, "id": "05df9a2a-024c-4738-bf0a-a310453e4c85"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "464810e5-600a-4849-9d3b-40841d0f714f"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "1c4cadd4-6847-4831-9807-a666afa70230"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "goal", "start_step": 741, "end_step": 808, "id": "09463540-e6ff-46cd-82cb-c517626b0fb6"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 809, "end_step": 918, "id": "b1996ffe-0c51-44d4-be01-fb8c2d185ae3"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "goal", "start_step": 919, "end_step": 994, "id": "2b7aa01d-1b77-4771-bbd1-1cab8f43195d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 995, "end_step": 1158, "id": "86316982-9cfb-4ab6-ae9b-be73f6773eea"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1224, "id": "6b177b84-ece9-4c1c-8524-284809c7f0de"}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1225, "end_step": 1392, "id": "badfc806-8fc4-4609-bde9-77c3fbb50438"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "goal", "start_step": 1393, "end_step": 1442, "id": "32fbb34f-e6f6-453a-8eeb-3dc7b5f93e7b"}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1443, "end_step": 1550, "id": "1bee12b9-2a22-4f39-a714-07b7ffe2c613"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "goal", "start_step": 1551, "end_step": 1614, "id": "0603685b-2c45-49af-bde6-0d2d852ab228"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 1615, "end_step": 1754, "id": "62fd6daf-7ffb-4bea-80eb-03b6ab428be3"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "goal", "start_step": 1755, "end_step": 1814, "id": "4b991101-0a97-4a41-adf3-f5e5373fe7db"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1815, "end_step": 1930, "id": "2cdf8b67-59b4-4e18-9771-64d422b1ca87"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}, {"label": "home", "start_step": 1962, "end_step": 1993, "id": "g7_6z8D9BzizIqxjZ8_RK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}], "episode_index": 25}
+{"source_uid": "83f4d2aa760603c7", "num_frames": 2324, "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: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "ba5373e4-a629-4bfe-af1e-725fb5e04c9e"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "IA2gDfPdfqKhxAjkXlsaP"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 252, "id": "433a2f77-3540-439d-954a-3e744e7ca6e8"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "goal", "start_step": 253, "end_step": 326, "id": "77ae9905-8a72-442b-bfec-5fef8127f1bb"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 327, "end_step": 574, "id": "b4040319-93e6-4d46-865b-0e1282280eb0"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 575, "end_step": 646, "id": "41e64121-89d6-4adf-9649-5f9bf0addbed"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 647, "end_step": 818, "id": "4c5b5094-3374-49e8-bcba-79fa0758652e"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 819, "end_step": 874, "id": "300889db-0dc3-4d8c-a39a-bfb950f33bfc"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 875, "end_step": 982, "id": "dba4c439-a0fd-4a67-afed-5ed8c495b78a"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 983, "end_step": 1050, "id": "07e1c03e-e2aa-47b5-bdca-5093e251173e"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1051, "end_step": 1188, "id": "0ae49894-808d-4f66-a25f-949da914165a"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1258, "id": "8b32fd3c-64b6-4f06-b9a0-76efc638ebea"}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "goal", "start_step": 1259, "end_step": 1380, "id": "e57536b3-ee0d-4f48-a3e3-567d5a2dac19"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1381, "end_step": 1454, "id": "65f6de4f-eb85-44b4-be79-3f328170260e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1455, "end_step": 1620, "id": "4bf7c894-cd2c-4c3a-a51f-d8c5cf874932"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 1621, "end_step": 1684, "id": "907fecad-06b2-4ca9-8d90-b64a9c2e6339"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "goal", "start_step": 1685, "end_step": 1810, "id": "79931ccf-e46b-4aab-9e64-f778ccef8f2a"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "goal", "start_step": 1811, "end_step": 1874, "id": "4c172254-9824-469d-887e-2168905400a7"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "goal", "start_step": 1875, "end_step": 2258, "id": "f4c6fa4b-cce0-472b-99b1-670ab180691b"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}, {"label": "home", "start_step": 2290, "end_step": 2323, "id": "FJmoWE5DQb-LjpO-xfvFV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}], "episode_index": 26}
+{"source_uid": "191eb4e8be6cf840", "num_frames": 2133, "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_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "52db5c36-6527-4fb4-b76c-6c092406e005"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "zQ0teTTIL1pU2bgkdvNSv"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 240, "id": "8f1c9797-32a8-4930-aa06-d875691e9f33"}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 303, "id": "5f1a047c-c1ac-47ed-b8cd-e9c1f096112e"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "goal", "start_step": 304, "end_step": 483, "id": "12ab257b-c8cf-471b-a780-8e73999e9a10"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 484, "end_step": 539, "id": "81113756-b517-46cf-9fd3-ce9ae666df74"}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 540, "end_step": 763, "id": "9978f91e-ab21-4f01-86f1-f6e17e39fe2e"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "goal", "start_step": 764, "end_step": 841, "id": "e0716298-c2a9-4fc9-93a5-5aef2b91a93a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 842, "end_step": 957, "id": "1666b130-0c46-4d1e-9b53-9a7f8da791a3"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "goal", "start_step": 958, "end_step": 1027, "id": "ea764a32-8e08-4861-82ac-156832781ee4"}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1028, "end_step": 1195, "id": "26852c7b-e54a-46ae-9bb6-1c80808fc12d"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1196, "end_step": 1251, "id": "84f11ee1-ea7e-4656-87c2-b18c0d498986"}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1252, "end_step": 1387, "id": "0f5e57ca-c2bb-4bd5-acd5-2bbf0c35cea7"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1388, "end_step": 1455, "id": "935a5b51-0261-4cd1-a2bb-6590ed6a67c0"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1456, "end_step": 1571, "id": "692d4451-4c12-43d0-ac71-9e631223f83e"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1572, "end_step": 1629, "id": "78507f22-cdca-4036-ab66-abad713008b4"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1630, "end_step": 1743, "id": "bf20ae04-b492-40e0-bbfd-93fb62c37c3a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1744, "end_step": 1807, "id": "792c0285-3c34-4ad7-8d0d-82b7aa87f547"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "goal", "start_step": 1808, "end_step": 2057, "id": "74c8bae5-bb42-4b18-8f87-d58e446c21af"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}, {"label": "home", "start_step": 2099, "end_step": 2132, "id": "m0WofIp_P7YEhUwehCh47"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}], "episode_index": 27}
+{"source_uid": "f3ee56df0e32628e", "num_frames": 3103, "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 on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "c4a544cf-7216-4100-a622-bb6fb79c132a"}, {"label": "valid", "start_step": 0, "end_step": 3067, "id": "LAgOzebX8d_tBcLw1dtEi"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "goal", "start_step": 125, "end_step": 264, "id": "95a29c3a-5126-4cac-a2f2-b66a8f990fa5"}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "goal", "start_step": 265, "end_step": 334, "id": "f0388da8-36e1-4f20-a7f5-8e51dcebfaf6"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "goal", "start_step": 335, "end_step": 468, "id": "9219fd5f-3f85-4b99-93fb-71dcff373817"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "goal", "start_step": 469, "end_step": 540, "id": "8cb61686-97ed-4ca5-afce-0c508f2cf8d0"}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "goal", "start_step": 541, "end_step": 804, "id": "67828e0d-3317-4945-9d4e-5b646a58ca63"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "goal", "start_step": 805, "end_step": 870, "id": "d79bfca1-c4be-4000-96b6-b1bf9e942690"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "goal", "start_step": 871, "end_step": 1518, "id": "e8b20037-a30b-4c3c-9612-1c4c7fe3ee7a"}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "goal", "start_step": 1519, "end_step": 1588, "id": "0b3f6bfc-3df2-4be6-98e0-0e80e992e60e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "goal", "start_step": 1589, "end_step": 1730, "id": "d352410d-2306-4099-be47-bbba441dff7a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "goal", "start_step": 1731, "end_step": 1798, "id": "dcb930fd-6ef1-444d-8705-18b4058edb92"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "goal", "start_step": 1799, "end_step": 1910, "id": "15a9c068-4da6-4941-bf97-448b3bd7ffd5"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "goal", "start_step": 1911, "end_step": 1976, "id": "f1aa7487-7c9b-409c-b606-601f3affb0d3"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2130, "id": "d18ac3c5-e2a9-4a95-82be-f47a1f575253"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "goal", "start_step": 2131, "end_step": 2178, "id": "b2b83d51-731b-41d9-b4c1-c5d0c1aeadd0"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "1a01e498-8555-4fab-a0a9-796e7fa85e30"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "goal", "start_step": 2425, "end_step": 2486, "id": "3457da86-c1c1-4365-9388-431ff3d6bc97"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 2487, "end_step": 3024, "id": "1d580850-59b9-49cc-95a7-9b10c6a75dfa"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3068, "end_step": 3102, "id": "daslhGy6EGX83sQm70BgM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 28}
+{"source_uid": "7d5484fe619df169", "num_frames": 2418, "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 located in front of the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "26fdaba9-79a7-4b9d-9702-8ecc8ff87f3f"}, {"label": "valid", "start_step": 0, "end_step": 2384, "id": "f-MLWmrIxKzFLTMhGX5C6"}, {"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 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": 111, "end_step": 300, "id": "3ceae929-52de-4506-bf6c-615bf6db7719"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 301, "end_step": 372, "id": "ec5f8aec-8775-4f83-a9fc-a578bf2e1c57"}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "goal", "start_step": 373, "end_step": 486, "id": "09aaf7d8-e3dd-4e4a-bc4e-af903b492c34"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 487, "end_step": 554, "id": "544bef78-9462-49f4-bc89-0ed84c74730d"}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "goal", "start_step": 555, "end_step": 724, "id": "f1edeb91-3882-46d5-b95a-cc498b6d8a1a"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "goal", "start_step": 725, "end_step": 780, "id": "84594faf-7b8b-42ea-b061-a68d8b359c8d"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "goal", "start_step": 781, "end_step": 900, "id": "c7a088c0-82e8-44ec-a218-1bb3fd06bcfa"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "goal", "start_step": 901, "end_step": 1108, "id": "5d674593-dc01-4e41-916b-d76d30f547da"}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "goal", "start_step": 1109, "end_step": 1236, "id": "73ed3f75-d0e3-4f87-9213-339a74073cea"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1237, "end_step": 1356, "id": "9d4989b3-a4bb-4b91-9766-77c5654f5658"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1357, "end_step": 1490, "id": "0f5f8286-3d77-496d-b606-9b319eb36a3b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "goal", "start_step": 1491, "end_step": 1582, "id": "1ef5d0d7-7316-473a-b96e-5c6a68c6bfc2"}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "goal", "start_step": 1583, "end_step": 1750, "id": "3a058a75-6af2-414f-81b2-3a96a54c264a"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "goal", "start_step": 1751, "end_step": 1822, "id": "fabe1ab5-702b-4cfb-ab01-86e35245df23"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "goal", "start_step": 1823, "end_step": 2144, "id": "c148f427-8c3f-4fa9-807c-93a7beea0ce7"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "goal", "start_step": 2145, "end_step": 2226, "id": "388a757e-343c-470c-80af-64c51bb24883"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "goal", "start_step": 2227, "end_step": 2346, "id": "f18b4427-5208-42ab-8ade-6cfd0a9ca7e6"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}, {"label": "home", "start_step": 2385, "end_step": 2417, "id": "Q_-b38uHe6X98PFcGST4z"}], "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 located in front of the wooden base on the black table."}, {"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 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": 135, "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: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}], "episode_index": 29}
+{"source_uid": "826d7e023867acc7", "num_frames": 2220, "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_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 104, "id": "88761c44-089a-414e-b38a-8646a153b050"}, {"label": "valid", "start_step": 0, "end_step": 2189, "id": "SDhWS7PbR_uYn_WnNx7qr"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 105, "end_step": 244, "id": "6a54b108-22bc-4d8a-b6fd-8d6ef4fbc15e"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "goal", "start_step": 245, "end_step": 302, "id": "adb2a0c4-f8fe-4b5b-bb34-eafdc99f1c0b"}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 303, "end_step": 520, "id": "b4575435-9ef8-4b6f-9400-8ea13ab18d0d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "goal", "start_step": 521, "end_step": 608, "id": "c90de2b3-4370-4ca5-984a-b27bd9e1c81e"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "goal", "start_step": 609, "end_step": 782, "id": "4e561687-821e-478f-b24f-a27c6ef74665"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "goal", "start_step": 783, "end_step": 844, "id": "33fc07bf-037d-4c8a-9656-addc94e86b20"}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 845, "end_step": 978, "id": "4e5f039c-b788-4755-ac3c-0cc021e6baa2"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "goal", "start_step": 979, "end_step": 1058, "id": "41b3633f-3311-415c-a4b9-44f80d4bffa9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1059, "end_step": 1172, "id": "981dcb3f-71b8-43a1-82c3-ab0c5b10305f"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1173, "end_step": 1246, "id": "13265388-ffa2-4556-8547-ff51fc0208ec"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "goal", "start_step": 1247, "end_step": 1384, "id": "2fd353a8-534a-4370-8ed5-d93ea8942e47"}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "goal", "start_step": 1385, "end_step": 1592, "id": "fea88eaa-f96e-4bad-9069-569cbe09a18a"}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "goal", "start_step": 1593, "end_step": 1718, "id": "3235bb5e-ed28-423c-8bb5-b6c9c93811d2"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1719, "end_step": 1802, "id": "6f1c83fa-748b-4cf6-bbdb-1bb2bb851c61"}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1803, "end_step": 1958, "id": "621cb06a-60c4-4ae0-b633-c38907e24c85"}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "goal", "start_step": 1959, "end_step": 2030, "id": "cad53b2b-1c06-4eb8-bfdb-ff163e0415a4"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2031, "end_step": 2146, "id": "0b788439-5ef6-40f4-823c-54ace52325ab"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}, {"label": "home", "start_step": 2190, "end_step": 2219, "id": "_ih5W5QvygMuz5LK7i0G3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}], "episode_index": 30}
+{"source_uid": "8f59d7fb094f3193", "num_frames": 1957, "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "ccacc417-f1d1-460e-868f-613983f9c31f"}, {"label": "valid", "start_step": 0, "end_step": 1926, "id": "8jR05v-M6bC20AtAh1N0s"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 232, "id": "995ec6a7-e622-45a9-a1d5-e580b8b5899e"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 233, "end_step": 298, "id": "a59d49df-5f84-4ed2-83c0-1c9b14939087"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 299, "end_step": 410, "id": "52c0ea0b-a2a2-4726-ac4c-a70fa96c8a28"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "goal", "start_step": 411, "end_step": 480, "id": "03371cde-16ec-4bdf-9998-dce167f1804c"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 594, "id": "7dcbfd1a-3672-4d26-944c-b5c9c7a9c18a"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 668, "id": "9b2bb254-b696-43db-ac2f-aa5447ee263b"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "goal", "start_step": 669, "end_step": 842, "id": "90e116d3-45b8-498a-8a39-1bb2d079fa3e"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 843, "end_step": 900, "id": "8239b380-c38c-4a8f-a058-32cd18d33ce8"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 901, "end_step": 1014, "id": "c7864cfc-3c59-408e-9e23-222b3f6930e2"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "goal", "start_step": 1015, "end_step": 1152, "id": "9dd127aa-7f68-49fd-b945-3ba359965ab1"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1260, "id": "ebf63628-8dad-4f53-83f7-3a1472e1f882"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1261, "end_step": 1324, "id": "330cc99b-df3b-47f8-b4b2-bd5c74322492"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1325, "end_step": 1404, "id": "7fb15e24-1fe5-4652-aa85-b42f81df16fc"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "goal", "start_step": 1405, "end_step": 1566, "id": "ff892c57-0093-41b0-a257-3a080d97ffcc"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "goal", "start_step": 1567, "end_step": 1680, "id": "60d776b8-5d80-4962-bfc3-538a354cc939"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "goal", "start_step": 1681, "end_step": 1729, "id": "2b8a3524-5ada-44ad-a538-bf6c3e41066f"}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1730, "end_step": 1879, "id": "b32ada5f-3a5c-4bb3-84d1-2ed99895a0e0"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}, {"label": "home", "start_step": 1927, "end_step": 1956, "id": "W1mG5K3Qli1K2VQXgHBUX"}], "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}], "episode_index": 31}
+{"source_uid": "1b6f0a17514186e7", "num_frames": 2365, "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "5b8d8201-5129-46c7-93eb-b8060f712d2e"}, {"label": "valid", "start_step": 0, "end_step": 2332, "id": "TXHXfs0F6XfVmHlJtcnNF"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "goal", "start_step": 109, "end_step": 210, "id": "1b976177-47c7-420c-aec8-058b20b24a65"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 211, "end_step": 283, "id": "d824d8e4-8bb3-4f43-97fe-d7a4c8d5b712"}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 284, "end_step": 505, "id": "0b4d38b7-c165-4bf5-9fb5-9215766f8f13"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "goal", "start_step": 506, "end_step": 583, "id": "c5c62e32-20d0-41d6-bc73-5b8a191d2181"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 584, "end_step": 693, "id": "8e412c0b-588d-4ebf-ba71-5455fe8ab350"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"label": "goal", "start_step": 694, "end_step": 763, "id": "9140680d-8bcc-4643-a4d8-0ffde0d46212"}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "goal", "start_step": 764, "end_step": 905, "id": "f01c8fbd-10cc-4c78-9cdd-2983c964d889"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "goal", "start_step": 906, "end_step": 959, "id": "03d0eb3f-eca1-4ee9-b5bb-e0e80b71ab1f"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 960, "end_step": 1073, "id": "80921e3a-e5ac-4e67-8fed-55fbaedea62b"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "goal", "start_step": 1074, "end_step": 1139, "id": "fb46a1e5-6a0d-4a03-b648-39b4a56efa29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "goal", "start_step": 1140, "end_step": 1773, "id": "12eeab78-668e-4c2a-b218-0d4aa9fed78b"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "goal", "start_step": 1774, "end_step": 1845, "id": "cd5b133a-69e1-44e1-8057-c6548322a9a7"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "goal", "start_step": 1846, "end_step": 1935, "id": "bd8aebd1-1a7d-4e48-bba5-960c644ea5f8"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 1936, "end_step": 1997, "id": "f3241ba8-fb62-4feb-af1f-8836abe1ff63"}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1998, "end_step": 2095, "id": "edce3d8c-a1f7-4bfa-89c2-1a37db9ab4a8"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "goal", "start_step": 2096, "end_step": 2165, "id": "ce7ed159-0301-4eb3-8ab7-76899854ae90"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2166, "end_step": 2295, "id": "27139636-6188-4f8b-8b87-075d8597b98d"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}, {"label": "home", "start_step": 2333, "end_step": 2364, "id": "tjCchmprXMonM6tqEEKtU"}], "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}], "episode_index": 32}
+{"source_uid": "b56a1a23f7463f01", "num_frames": 1910, "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "88c3d9f4-1031-4fbb-8c9a-254f7cccd910"}, {"label": "valid", "start_step": 0, "end_step": 1881, "id": "sQQXCk9nlJ6kONG3NGBbE"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 115, "end_step": 228, "id": "a623583e-d75e-43b4-870e-1cce56ab6fa5"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "goal", "start_step": 229, "end_step": 304, "id": "5afef8a3-0115-4a17-aa79-c8b72e690598"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "goal", "start_step": 305, "end_step": 412, "id": "353e7bfc-e7f0-411e-b469-e210c6ee1888"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "goal", "start_step": 413, "end_step": 462, "id": "243c45ed-2d44-4588-84da-31154a32d60c"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 463, "end_step": 634, "id": "42222b42-e8d8-48df-bbb6-c8d253f73f84"}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "goal", "start_step": 635, "end_step": 702, "id": "cb09257a-37e5-4bb6-b85c-a45c5a63a0ac"}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "goal", "start_step": 703, "end_step": 822, "id": "3d1ce83f-079a-40ae-bb36-f1a05a650ba0"}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": "goal", "start_step": 823, "end_step": 874, "id": "368d3ad8-29e0-436d-a662-c228a60fa742"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 875, "end_step": 986, "id": "ba425457-2874-4365-9b24-af70d37b2062"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "goal", "start_step": 987, "end_step": 1044, "id": "5e381de3-2e8f-48aa-ac33-aa7ca4f3d249"}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1045, "end_step": 1162, "id": "f845ac5b-3ffb-4e46-8473-6c264930cbde"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 1163, "end_step": 1244, "id": "8f4a2d6a-3289-440b-b88a-42252cc689fc"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "2b6c1315-4fed-4481-a20a-60ec684a6184"}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "goal", "start_step": 1341, "end_step": 1500, "id": "6b6e26e5-66ec-4019-baee-50847d3eee49"}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1634, "id": "94fe5c8e-0429-4b07-9a1f-7ac204f45f2a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1635, "end_step": 1704, "id": "36da88a9-1e0c-4389-a785-c45e845fada7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1705, "end_step": 1840, "id": "a83ba1b9-5add-4200-983f-a06c0d8b7577"}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}, {"label": "home", "start_step": 1882, "end_step": 1909, "id": "EabqkK9pzAkoWDr48N-5i"}], "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}], "episode_index": 33}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da573eb84be8cd6ae169b86ac75ddda0988e5b93
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,34 @@
+{"source_uid": "feeb6a63426dcda1", "num_frames": 2414, "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "5cf8fa9c-8f57-4fa3-a437-725413e2c8b4"}, {"label": "valid", "start_step": 0, "end_step": 2381, "id": "3s4rTW6tEJtgOk3gDWik5"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 153, "end_step": 332, "id": "12f3b6c7-80dd-4a00-8e21-d05a56c99e72"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 333, "end_step": 604, "id": "30a98191-d8dc-48ee-a7a2-6a06a8a50451"}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "goal", "start_step": 605, "end_step": 816, "id": "abdfd6d6-6680-46cd-a81b-2836207e1d47"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "goal", "start_step": 817, "end_step": 916, "id": "00619ea9-03f4-4a87-91be-a4ea5996c172"}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "goal", "start_step": 917, "end_step": 1066, "id": "63684d0a-cb1b-4cd6-af88-a4390f960cc7"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "goal", "start_step": 1067, "end_step": 1144, "id": "4fd517cb-0ddb-4a17-90e7-46f3467d9401"}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 1145, "end_step": 1294, "id": "f9f4476b-6c5b-4672-8e38-05cca3c1d426"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1295, "end_step": 1370, "id": "0644c07f-64f5-496c-8a7b-1c373eeba1c8"}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "342c819f-ae54-43be-b6a0-8e6fe5fa97d3"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1515, "end_step": 1576, "id": "01e1dba4-6bfd-40ab-b288-8eb3264909c5"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1577, "end_step": 1702, "id": "f51df855-e08e-46b3-871a-5eec83aa8135"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1703, "end_step": 1782, "id": "71d2f72c-e1a0-417f-8f10-85fbb656e8fb"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1783, "end_step": 1924, "id": "797f7ede-768a-4591-88df-36ebb5491b13"}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "goal", "start_step": 1925, "end_step": 1990, "id": "aaba36c0-0d81-4325-8c52-a516512581b2"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "goal", "start_step": 1991, "end_step": 2122, "id": "bf72dc8b-371b-4c2b-a150-594a9d05277e"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "goal", "start_step": 2123, "end_step": 2196, "id": "11ac9388-aa36-4038-9c24-190a2ba2f8cf"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "goal", "start_step": 2197, "end_step": 2344, "id": "81f43a9f-019e-4ff9-a495-c575a4443849"}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}, {"label": "home", "start_step": 2382, "end_step": 2413, "id": "FEcmWbtmuZsoNwVW9-G36"}], "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}], "episode_index": 0}
+{"source_uid": "a0c3fdd16c548908", "num_frames": 2231, "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_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "70e6e44f-5ffa-4fba-9b21-0eb49168d010"}, {"label": "valid", "start_step": 0, "end_step": 2196, "id": "knFtldoanELG3arpsfZnf"}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 252, "id": "589dc0f3-787e-42dc-88ea-4fb996e53051"}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 253, "end_step": 324, "id": "c37cfdac-3cbd-4e6e-9c57-2e2346b1df32"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "goal", "start_step": 325, "end_step": 468, "id": "50e7fa64-be59-4ed4-8577-f428c8864696"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "goal", "start_step": 469, "end_step": 538, "id": "ea91f42a-bcd9-4a7f-b1ad-b8e5c82b079e"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 539, "end_step": 682, "id": "1672d8ba-5a2c-4386-97b4-abb535b768eb"}, {"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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 683, "end_step": 748, "id": "93a14d33-a770-4730-920f-8235e284f24d"}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 749, "end_step": 916, "id": "c44133f8-46cc-4390-bfce-5ccb7486292f"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "84a560d2-9f74-478f-ac23-c9b9067975b2"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "goal", "start_step": 987, "end_step": 1262, "id": "c9f22f0b-81c6-4014-b0ea-80ba63d4d525"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1263, "end_step": 1346, "id": "0c84eeb7-32d3-4cca-b215-501cfe9f2aa0"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1347, "end_step": 1462, "id": "e60a93dd-9783-4b0a-819c-95f372d1964f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1526, "id": "d6d5607c-695c-498a-b953-c8ea6707276f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1527, "end_step": 1670, "id": "f27edf5d-61c4-4a23-bebc-b6154fbb25df"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "c4373a07-4e00-4987-9310-7c32ab0da5d8"}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1741, "end_step": 1864, "id": "8f5d4d6f-a165-44c4-93bd-867759ec0662"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "goal", "start_step": 1865, "end_step": 1928, "id": "388dbe13-caac-4087-9a64-e654d6d2b82f"}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2164, "id": "4cefa2ac-56ec-4ab0-9161-230b0ee7bf89"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}, {"label": "home", "start_step": 2197, "end_step": 2230, "id": "BtTBlLohmUa4617_x8K-5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the 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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}], "episode_index": 1}
+{"source_uid": "31ce23b3576bd81b", "num_frames": 3203, "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "9c9d186b-a501-4371-8640-720c07f8b5ab"}, {"label": "valid", "start_step": 0, "end_step": 3169, "id": "Iu3B5wMBVGcANyNcmiv9B"}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 113, "end_step": 272, "id": "796491c0-8206-4be1-8e0e-0a233824453b"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 273, "end_step": 330, "id": "e92c63f4-85b2-4651-b7d2-b28046d532c1"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 331, "end_step": 898, "id": "ec3feeaa-b67f-4aed-aa62-be39c9ae8370"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 899, "end_step": 1076, "id": "3923ae2f-afee-4920-b4bc-3dc500be2200"}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1077, "end_step": 1244, "id": "7a302ce5-afaf-4d7b-88e1-fbb0ac696a4c"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "ca2ecec1-ef61-48eb-bb5f-534b3d19ac03"}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1341, "end_step": 1472, "id": "11ae9ce4-164e-4cbc-85da-d89956701924"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "goal", "start_step": 1473, "end_step": 1548, "id": "85d7eb75-bd86-4bdb-8bfa-d9c1d55ae6a2"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "goal", "start_step": 1549, "end_step": 1722, "id": "b1d5ae41-7d5e-41e9-b462-6ac9c01f41e9"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1723, "end_step": 1804, "id": "64f5bde6-8945-4e91-9a3b-b0a1158054d7"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "goal", "start_step": 1805, "end_step": 2096, "id": "6092d6a8-a3fb-4992-a557-2253ec839add"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "goal", "start_step": 2097, "end_step": 2168, "id": "3566ad32-ecec-4066-832b-8677c7f789d0"}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2169, "end_step": 2376, "id": "eae728de-748e-4709-9f46-46e6a33504fc"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "goal", "start_step": 2377, "end_step": 2458, "id": "897eab07-15be-43c8-bbaa-11aaa005878d"}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2459, "end_step": 2688, "id": "267cbfb8-f7ac-472c-9527-fc5b452ab24a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "goal", "start_step": 2689, "end_step": 2794, "id": "0f040ace-e184-4636-823c-aff13951b8cc"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "goal", "start_step": 2795, "end_step": 3134, "id": "af04ba09-9aa0-4a30-8d22-724c60a97488"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}, {"label": "home", "start_step": 3170, "end_step": 3202, "id": "w7IZbLQVVms2cRbplcjtD"}], "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}], "episode_index": 2}
+{"source_uid": "f88c07571895f118", "num_frames": 3338, "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "f7aa815c-94ca-401a-a68d-d6164505d3a4"}, {"label": "valid", "start_step": 0, "end_step": 3304, "id": "9ArBaI4R2PPnVrr7ZaXbk"}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 127, "end_step": 252, "id": "c6efb3a2-7ddc-4a20-8885-269c96674354"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"label": "goal", "start_step": 253, "end_step": 336, "id": "cf023dee-3e84-4bd0-a337-1417a30412fa"}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "goal", "start_step": 337, "end_step": 462, "id": "2f75c9f8-4ff0-4dd1-bafe-45bcba0ae05e"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "5616f542-f3fa-4eaa-9983-f4245f662c40"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "goal", "start_step": 539, "end_step": 672, "id": "dde5c213-6674-4ae0-aaa2-b067e50779f0"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "goal", "start_step": 673, "end_step": 756, "id": "47b8093a-4a88-40b7-a932-f0049c3ca3f3"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "goal", "start_step": 757, "end_step": 904, "id": "af8a1935-7083-4549-a17a-4b3a89f07fdf"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "goal", "start_step": 905, "end_step": 1012, "id": "c407210d-48bc-4480-ab0d-a633234a5528"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "goal", "start_step": 1013, "end_step": 1192, "id": "b2b2a519-9442-47b5-80f2-f3477470ec2d"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "goal", "start_step": 1193, "end_step": 1300, "id": "e50248b3-9452-48b9-9378-9e66afd7ffaf"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1301, "end_step": 1488, "id": "5c61735f-9285-442d-a9f9-1e854cdf58d4"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "goal", "start_step": 1489, "end_step": 1680, "id": "efc5ffe1-c3b9-43e4-81ae-476cf56bf143"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1681, "end_step": 2000, "id": "cb50b0da-d458-4956-9a6c-056b8aadf2a6"}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "goal", "start_step": 2001, "end_step": 2124, "id": "2079f41d-eca5-4d52-b479-e9ec22e0ab64"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "goal", "start_step": 2125, "end_step": 2768, "id": "d5d50ff5-2ea1-4371-8779-c5f00c557984"}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "goal", "start_step": 2769, "end_step": 2858, "id": "f014a59c-55bd-4375-9fc0-df76c64143a7"}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "goal", "start_step": 2859, "end_step": 3268, "id": "78641857-d5a3-4547-8a56-d552c31ae65c"}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3305, "end_step": 3337, "id": "oAY9VdfNCIO-L338fW4Pm"}], "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 3}
+{"source_uid": "3eb8c376a146752b", "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 206, "id": "76920780-e1cf-4632-bed2-5729fae29f40"}, {"label": "valid", "start_step": 0, "end_step": 2190, "id": "rFarbcaMUEJ4eKwrZ2ilu"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 207, "end_step": 388, "id": "7400a031-c386-4c66-b1bb-be02432d9a36"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 389, "end_step": 506, "id": "b9a94684-bc8e-400d-a89f-0ca9a36b36c1"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 507, "end_step": 644, "id": "b281ca2a-099c-4c57-bc28-5dc47ce83e51"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 645, "end_step": 728, "id": "484cd979-ffe1-4435-8aa5-b4cef10b8c5a"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 729, "end_step": 862, "id": "9884f2dc-7155-4828-a151-9ebe6ee1849d"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 863, "end_step": 930, "id": "3295f31b-88dc-4847-a3f2-0238666f5c25"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 931, "end_step": 1096, "id": "17e82990-c4d0-4b75-b229-1d48068c9fdb"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1097, "end_step": 1168, "id": "faad3483-eea9-4d27-bab1-4afaa84e82cc"}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1169, "end_step": 1296, "id": "e37a2b15-2d1f-469b-947d-001ae8fa6d21"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "goal", "start_step": 1297, "end_step": 1368, "id": "a0b4316c-2099-4bcd-a0b0-8abfb0783edb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1369, "end_step": 1540, "id": "211e7df9-690f-4d51-b28c-98c66ed1e5e6"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1541, "end_step": 1594, "id": "816192e5-ab31-4090-85d0-813c26fe8a52"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "goal", "start_step": 1595, "end_step": 1714, "id": "366290fa-1fc9-4f8b-b8c1-df0bf3207f34"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "goal", "start_step": 1715, "end_step": 1782, "id": "9c56dd1e-5f70-4bec-b1c1-103513749add"}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "goal", "start_step": 1783, "end_step": 1920, "id": "7132cb86-232e-4fa3-bad8-ce2d02f1f704"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2000, "id": "269b8d2d-4e25-48bf-beb8-6c616c83a6f5"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2001, "end_step": 2148, "id": "1abb5ee2-9486-4fc6-a2b2-f996f840000f"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}, {"label": "home", "start_step": 2191, "end_step": 2224, "id": "SMIHwW2X8c3qTkU1jZI0e"}], "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 toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}], "episode_index": 4}
+{"source_uid": "f9612b149378ec6b", "num_frames": 2812, "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "d2ab2afb-e33e-4bde-9aef-90242845d9b0"}, {"label": "valid", "start_step": 0, "end_step": 2778, "id": "rCTFFYJQDXRmr3ypYMVaf"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "goal", "start_step": 129, "end_step": 264, "id": "34edda0d-846d-4a3e-8f09-df0f3e4dbb13"}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 265, "end_step": 406, "id": "58f9832d-90e8-4119-b70f-88a3a547ac5e"}, {"label": "subtasks", "start_step": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 407, "end_step": 572, "id": "2e4adf39-6107-4723-8f1d-92e4e13d49f5"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 573, "end_step": 640, "id": "c36b9624-8323-4458-ad0e-88a3ebf332bd"}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "goal", "start_step": 641, "end_step": 766, "id": "00300177-62b2-49f9-87cd-f65849f82308"}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 767, "end_step": 836, "id": "e29f713d-1bcd-451d-bb39-49432bce0018"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 837, "end_step": 984, "id": "1501826e-a5b4-402b-a311-82d012fa540d"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1104, "id": "9707b1a6-7ea7-4226-8fca-29c2846dc7d1"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1105, "end_step": 1244, "id": "e929f48e-9bbe-44b3-8a0a-31c8f9b82c85"}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 1245, "end_step": 1306, "id": "dfaf9d0e-bd0e-44be-9f7d-718098b48050"}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "goal", "start_step": 1307, "end_step": 1842, "id": "1ae042ff-8783-4da0-b7a5-3e83fde456d5"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "goal", "start_step": 1843, "end_step": 1930, "id": "03a5a348-846e-492a-af16-c3627e68962a"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1931, "end_step": 2270, "id": "4f101075-1e38-4ac7-94d7-e29e23904b24"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 2271, "end_step": 2316, "id": "d7acb861-f188-4692-b743-cd8a2c1308ac"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2317, "end_step": 2480, "id": "c7b32b7e-3b73-41d8-86b6-93dffdac8e88"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "goal", "start_step": 2481, "end_step": 2548, "id": "82526737-e4ee-4215-8360-8e82c259c863"}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2549, "end_step": 2734, "id": "1c7cfefb-7bd5-486e-8c9f-1857d48c040e"}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}, {"label": "home", "start_step": 2779, "end_step": 2811, "id": "AV2cOuOkro6pJXTuyEiLZ"}], "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}], "episode_index": 5}
+{"source_uid": "f2f603a07c808a79", "num_frames": 1899, "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "5bd7b8e7-200c-4bba-967b-0c8940022552"}, {"label": "valid", "start_step": 0, "end_step": 1865, "id": "y03g1rI5dReJQYHB7jBas"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "c247f88d-b296-4367-8b76-fcfe6494f651"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "goal", "start_step": 273, "end_step": 374, "id": "a55a8d77-520e-4839-b8e0-80d921c6c9e3"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 375, "end_step": 502, "id": "3bea8261-7b2a-450e-8e01-35b8f2570d65"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "32c3d569-ca27-4434-9a3f-2824cf22f7fb"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "goal", "start_step": 577, "end_step": 684, "id": "4a4ac891-f952-44ad-b632-f3e5aa8e6ccf"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "goal", "start_step": 685, "end_step": 742, "id": "05bbb994-b551-4ed9-945f-503fb33c6f38"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "goal", "start_step": 743, "end_step": 854, "id": "5b31e4a4-9626-4d69-8235-4826be4d4c90"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "goal", "start_step": 855, "end_step": 916, "id": "517f9bea-3f08-4596-a64d-125672078394"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "goal", "start_step": 917, "end_step": 1040, "id": "4c69bf81-d703-48a2-bc3f-fa6e0c3f9167"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "goal", "start_step": 1041, "end_step": 1090, "id": "8a4ab72b-8d2d-4f51-89e6-11773306b704"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "goal", "start_step": 1091, "end_step": 1212, "id": "b9c448af-a132-4c1b-a98d-dd8817c7ac5d"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "goal", "start_step": 1213, "end_step": 1273, "id": "7137fadd-aab2-4886-8934-3532ad8ecf83"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1274, "end_step": 1425, "id": "8045d729-81e0-4573-8321-c102074f90a6"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "goal", "start_step": 1426, "end_step": 1497, "id": "91ab85b3-e664-4c7c-aa37-4a99ddf4c86d"}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1498, "end_step": 1627, "id": "5f84c7a5-7329-426f-9bdf-897d11094a8e"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "goal", "start_step": 1628, "end_step": 1682, "id": "ea57fa54-a9c6-4c29-af46-a73d8901ce99"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1683, "end_step": 1832, "id": "cea25fff-e820-48f6-8608-1113a280b9e8"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}, {"label": "home", "start_step": 1866, "end_step": 1898, "id": "lDl1rQ_pb5bH_JfSzqC7M"}], "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}], "episode_index": 6}
+{"source_uid": "4725bc20307b68e8", "num_frames": 2313, "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_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "c0499bae-6416-4d2f-9d33-e990485054fe"}, {"label": "valid", "start_step": 0, "end_step": 2280, "id": "LgFGVPjby_xGHu4iIP1hr"}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"label": "goal", "start_step": 115, "end_step": 236, "id": "553aebdb-2c41-437f-b12f-217742e01d34"}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "goal", "start_step": 237, "end_step": 300, "id": "35b8575d-6d3e-4d92-ba6b-d66f0684024a"}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 301, "end_step": 428, "id": "799b3653-86f0-4785-ab9e-ac4aa5ecfc79"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "goal", "start_step": 429, "end_step": 494, "id": "73ffdc46-9738-44ef-a13f-0d525174f261"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 495, "end_step": 628, "id": "c1250521-cfc7-4138-b124-422df7717a22"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 629, "end_step": 704, "id": "95739424-834b-48ae-9e32-fd1cbc08e4f5"}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 840, "id": "dc40c019-50f4-4a11-9ecb-4f4eab85f4b0"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 841, "end_step": 910, "id": "46b460d8-0a68-45a8-acb8-6fa14d98db23"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 911, "end_step": 1042, "id": "c80fd75e-e211-4f25-8ef8-961cff308897"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "goal", "start_step": 1043, "end_step": 1106, "id": "ea04d9f6-6926-4b19-a34a-b25454fcf6ec"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 1107, "end_step": 1278, "id": "b2f7712f-3342-4b46-b294-10e816e7f080"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1279, "end_step": 1356, "id": "87f4c209-1cdd-406c-b683-6c24554432c9"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "goal", "start_step": 1357, "end_step": 1476, "id": "e5319563-7663-4613-9297-c73cb5a58344"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1477, "end_step": 1702, "id": "966dd3ce-38fe-4933-97cd-bf5f5ae42b0e"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1703, "end_step": 1918, "id": "00daf765-e040-4f6f-bb40-13e2e13bdd67"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "goal", "start_step": 1919, "end_step": 1988, "id": "9d1a9e9c-3faf-456a-8827-ba54b0b8f379"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "goal", "start_step": 1989, "end_step": 2240, "id": "6e668818-b4cd-4610-bf5f-0a19e2ec0a6d"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2281, "end_step": 2312, "id": "5ZYpNqcBmUMS9YfLTEwPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 915, "end_step": 929, "id": "reasoning-language-00029", "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 upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}], "episode_index": 7}
+{"source_uid": "de63a19283a52074", "num_frames": 2268, "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: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "5f24c1fd-5251-4d7f-9538-6d080cd75a2a"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "4snvr5FY8zirJXOn8yD8x"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "c41ed086-caf6-42e1-ae29-adf169c2379d"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "goal", "start_step": 263, "end_step": 318, "id": "91f08658-ec06-4763-be91-26cf17747d7a"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "goal", "start_step": 319, "end_step": 440, "id": "ee787952-a4a5-48d4-bc44-a19139b57cd7"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"label": "goal", "start_step": 441, "end_step": 508, "id": "9e30871e-6004-4386-94a5-aa93dac631c1"}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "goal", "start_step": 509, "end_step": 636, "id": "5fcd9456-7f17-44d6-9d93-8ca6a2be3e32"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "goal", "start_step": 637, "end_step": 690, "id": "ca662b34-b709-443c-b047-755d6f48b6c2"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "goal", "start_step": 691, "end_step": 898, "id": "bfbedeca-35ab-4559-b8b6-7b622e1f2bef"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 899, "end_step": 968, "id": "f1a62489-5c5a-4975-8eb3-8244706afe49"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 969, "end_step": 1096, "id": "ab74144b-1082-4858-a125-c47ddd9c6e16"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "goal", "start_step": 1097, "end_step": 1166, "id": "6e36c7eb-998a-4ddd-aac7-bc5aff904a41"}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1167, "end_step": 1340, "id": "a5c9c466-6a11-4aa0-9492-f451a5e37667"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "goal", "start_step": 1341, "end_step": 1412, "id": "ff30526e-d82b-4207-9eb1-5e464b9b0d9e"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1536, "id": "b03bc50f-49a9-48c6-81f1-8926308dfe5b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "goal", "start_step": 1537, "end_step": 1606, "id": "c2c64cce-c124-4188-8ce4-2e7910c82c27"}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "goal", "start_step": 1607, "end_step": 1728, "id": "6469a593-68aa-4ce3-bdb8-f77cc993bf84"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "goal", "start_step": 1729, "end_step": 2042, "id": "8176d90c-6b77-4119-8d07-fad79a25ae5d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "goal", "start_step": 2043, "end_step": 2204, "id": "73620ded-55aa-4990-8028-feea7b22d9be"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}, {"label": "home", "start_step": 2236, "end_step": 2267, "id": "-_bG7owt4Elo5D_Og-6tw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}], "episode_index": 8}
+{"source_uid": "20cf0f55485f3e96", "num_frames": 2190, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "goal", "start_step": 0, "end_step": 131, "id": "ec0a8284-a74a-46cc-99fb-b202960ffb1a"}, {"label": "valid", "start_step": 0, "end_step": 2159, "id": "SGAETsWYjMtsLL4mro4kR"}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "goal", "start_step": 132, "end_step": 317, "id": "808eeb64-5bbd-4dc1-93cc-8c5ef6320b1e"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 318, "end_step": 403, "id": "f59b4878-ad7b-42e8-a895-d27ce9653626"}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "goal", "start_step": 404, "end_step": 541, "id": "9421a49b-7eb2-427c-997d-08f375d6cb9e"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 542, "end_step": 651, "id": "b480a561-9281-499f-b6e1-dd38e7c6148d"}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "goal", "start_step": 652, "end_step": 805, "id": "31aa75bc-7698-44dc-8788-d5529054470b"}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "goal", "start_step": 806, "end_step": 885, "id": "93aa7cfc-ef90-454c-8e28-74b7aae4e9cd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "goal", "start_step": 886, "end_step": 1055, "id": "19cda1a2-1940-40ca-8d02-f182ac86d370"}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 1056, "end_step": 1125, "id": "908ef127-4ceb-4bf2-8354-e1c5cd20233e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 1126, "end_step": 1275, "id": "40831c15-836f-4a75-9f33-c681568a6131"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "goal", "start_step": 1276, "end_step": 1343, "id": "540b14eb-2681-4b6c-a546-b05d1ce017cf"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "goal", "start_step": 1344, "end_step": 1497, "id": "aad94708-4b29-4925-92fe-7d8dc14997d5"}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1498, "end_step": 1575, "id": "c0678055-9528-4efa-916f-bd22cebc3933"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1576, "end_step": 1707, "id": "57d549e9-811f-4f38-9c8a-b9ee2215f8e8"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1708, "end_step": 1775, "id": "0384ec77-d96f-4dd4-a6ab-d41f31257aa1"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 1776, "end_step": 1889, "id": "462ad151-5272-43d1-b3bd-59c8e704afbf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1890, "end_step": 1969, "id": "6e0a19ba-5add-4f84-92ac-784065fc9c39"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "goal", "start_step": 1970, "end_step": 2129, "id": "ab6484b1-93ab-4572-9ed1-46d7b8f9aa0d"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}, {"label": "home", "start_step": 2160, "end_step": 2189, "id": "oF46G2MdRKFXqWrBvEf1h"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}], "episode_index": 9}
+{"source_uid": "4e73e40859ba5a55", "num_frames": 2153, "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": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "1c406381-180a-48b5-ac96-4f57a238204f"}, {"label": "valid", "start_step": 0, "end_step": 2118, "id": "mTo3Z4vfe_gjIWlrw62S2"}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "9e2fdb67-957e-4753-bf77-893e232872bd"}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"label": "goal", "start_step": 263, "end_step": 336, "id": "619e621b-dc14-4e02-a7b8-22adb38628eb"}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 337, "end_step": 474, "id": "ea268527-e294-476d-b117-221b26abf21b"}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 475, "end_step": 560, "id": "b8f28524-b61b-470e-b5e0-0f3c705a08e9"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "goal", "start_step": 561, "end_step": 700, "id": "bc21b1eb-0b72-47b3-938d-9d7ef7616515"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "goal", "start_step": 701, "end_step": 770, "id": "f1443ce1-9f5a-4c25-be9e-e0eedb708190"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 771, "end_step": 892, "id": "6da482b8-eb19-4575-8640-e712d88096cd"}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "goal", "start_step": 893, "end_step": 940, "id": "15a820d3-97c8-4318-8ab3-39ffa7b3a808"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 941, "end_step": 1110, "id": "da9a4477-0ab3-4212-9433-cca1a317bbf6"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1111, "end_step": 1178, "id": "26188c68-b913-412c-964c-533af839ddaa"}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1179, "end_step": 1304, "id": "ca85693b-6735-41c0-81e0-854ff6c5a0b0"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1305, "end_step": 1380, "id": "bb94d764-5c25-4251-afaf-2d83bc519f23"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "goal", "start_step": 1381, "end_step": 1492, "id": "016e052b-4652-4f1e-91ef-ead1a86d86e5"}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1493, "end_step": 1542, "id": "64b5ae5a-af41-461b-917e-24c168306dc1"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1543, "end_step": 1828, "id": "f2fe4ee2-cae8-4de1-bfb4-7e7f00245ac5"}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 1829, "end_step": 1900, "id": "ffde345f-a08c-4102-9227-fedf6cd50455"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1901, "end_step": 2080, "id": "8c1ea5b0-8e5f-4820-a6a0-12eb4b87930a"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}, {"label": "home", "start_step": 2119, "end_step": 2152, "id": "l-zHwHxWxLScDUi_IT7ES"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}], "episode_index": 10}
+{"source_uid": "eb3106b747608e30", "num_frames": 1913, "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "02881dfe-f01c-4928-87dc-bd727633bebd"}, {"label": "valid", "start_step": 0, "end_step": 1879, "id": "oB95DqVw5qdnrhDwynOuE"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 125, "end_step": 250, "id": "002aba7f-8c8c-4d2c-aa2e-6299147e29b8"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 306, "id": "07a4da69-13ac-454d-bffa-e84f412994a9"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 307, "end_step": 412, "id": "810343a4-411c-4369-977d-4e58ee4bc888"}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "8e5f1d89-245a-4430-a7c0-546f5cb52857"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 485, "end_step": 602, "id": "52a7cda8-2584-4742-85f0-ed64ce17ee79"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 672, "id": "48031adc-9d56-43a1-b295-0b9171a38cf5"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 673, "end_step": 780, "id": "e2bc82cc-8109-449e-a3a1-a553b56000cb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "goal", "start_step": 781, "end_step": 838, "id": "404b4946-e614-4c45-b534-036cf65def3e"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "goal", "start_step": 839, "end_step": 946, "id": "4c18154f-d65e-4fdc-99d6-cf2b019d2f9a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "goal", "start_step": 947, "end_step": 1027, "id": "ed404359-5730-4fd3-b586-5fe4cda71a2f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "goal", "start_step": 1028, "end_step": 1149, "id": "8d66f271-e06f-4518-bf39-4dfc11f6aa81"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"label": "goal", "start_step": 1150, "end_step": 1217, "id": "a06d88e0-fb6a-4887-81ed-2295e469acb8"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1218, "end_step": 1341, "id": "0a722039-322e-40ee-94ef-f0e67d579e3f"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1342, "end_step": 1389, "id": "4a11f1c6-0cac-4114-baab-b6f3be4974f8"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "goal", "start_step": 1390, "end_step": 1615, "id": "a9f4fc36-096d-4dd4-a553-58230d2caa80"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1670, "id": "a27b9cd5-6749-468f-80ea-10f4fcc96a1e"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1840, "id": "eddc1451-450a-4dd3-981d-cd401f6d3ae2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}, {"label": "home", "start_step": 1880, "end_step": 1912, "id": "VriRrtEIwEpmLqO5h5FUY"}], "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}], "episode_index": 11}
+{"source_uid": "ed4435a753b3fa7d", "num_frames": 2861, "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 slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "3604304a-21e7-4e23-a9b4-973dd3f50c6b"}, {"label": "valid", "start_step": 0, "end_step": 2825, "id": "ZUwC-x4TJteRGUR2csokV"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "goal", "start_step": 129, "end_step": 242, "id": "7a6e7f16-ee32-4ca4-a493-81324756a62f"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "goal", "start_step": 243, "end_step": 302, "id": "2badc2d3-18ba-4159-8e89-b291292f6d18"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 303, "end_step": 448, "id": "e9bd8b57-2a8d-4d91-be56-c425b9d9d14d"}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "goal", "start_step": 449, "end_step": 536, "id": "7d92a177-4090-4bc5-a33e-1b063bd89c38"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 537, "end_step": 736, "id": "0eacf741-4072-4390-a138-cc190eb6afb4"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "goal", "start_step": 737, "end_step": 802, "id": "e4b2d993-3e1a-41de-b7eb-3a6aa280ffdd"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 803, "end_step": 976, "id": "7973ed70-216d-4ec8-9d79-9ebda510b44c"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 977, "end_step": 1336, "id": "73e23755-dc9e-4340-ac66-de8c78a251fb"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "goal", "start_step": 1337, "end_step": 1764, "id": "c9bd651d-f94f-4fd6-b7e4-74b937c55371"}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "goal", "start_step": 1765, "end_step": 1852, "id": "bd4dcf6b-7929-4af3-ac4d-6bb5acabf239"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "goal", "start_step": 1853, "end_step": 1988, "id": "1c5a6865-5831-43e3-bf2a-d5506874e026"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "goal", "start_step": 1989, "end_step": 2054, "id": "a2f10d60-825e-419c-badd-1dd0c2c8339c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 2055, "end_step": 2182, "id": "47ca82f9-32c6-4fd7-aa84-5310532de89c"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "goal", "start_step": 2183, "end_step": 2244, "id": "30649320-5a31-4e48-9ecb-f19e8a9813d0"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2245, "end_step": 2386, "id": "66e72caf-5b3f-4e7b-87be-3cbdd27c9efa"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "goal", "start_step": 2387, "end_step": 2460, "id": "29cabce7-08d8-4137-956b-0009511240df"}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2461, "end_step": 2786, "id": "0270c309-68e5-4a9a-9ddb-9ed359d6b144"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}, {"label": "home", "start_step": 2826, "end_step": 2860, "id": "SXacUpSLr4rZ7VKj517ul"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}], "episode_index": 12}
+{"source_uid": "36211cdb9507676d", "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "75c084d8-fe04-4e75-9fac-c8baa828d909"}, {"label": "valid", "start_step": 0, "end_step": 2147, "id": "cXGQLHtaqWpxKajkoish9"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 117, "end_step": 264, "id": "ae3b61d0-c38b-49e5-83d6-000d2ea0d0a8"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 265, "end_step": 322, "id": "feeb57b1-3ee7-4a4f-8dd7-bfcc3304b6d4"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "goal", "start_step": 323, "end_step": 444, "id": "0f1507c4-db5d-431e-b8ee-847e49c6d4ba"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 445, "end_step": 506, "id": "62d5ee83-2919-44cb-8ff9-57a8871901b8"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 507, "end_step": 666, "id": "41f6b11a-8bd8-4f41-9811-e392e06e9c47"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 667, "end_step": 982, "id": "8fa8f528-9010-4575-9f69-54a5f2557cf8"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "goal", "start_step": 983, "end_step": 1114, "id": "e0617ed4-79e2-4254-8708-ba5a0a9d5e6d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1115, "end_step": 1178, "id": "24333d80-4369-4958-b5c1-dbc34b961df4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1179, "end_step": 1296, "id": "a702df4a-a256-48aa-9387-41210db79b39"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1384, "id": "e0b79632-a87c-46a4-b287-9d22991e83c2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1385, "end_step": 1514, "id": "261758ab-2218-4b59-bebb-ffb70dc37090"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "goal", "start_step": 1515, "end_step": 1588, "id": "0054db04-fe61-45e4-b5d9-2fc93199f436"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1589, "end_step": 1704, "id": "6d88813e-4807-4853-a7fc-a333f89428cf"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1705, "end_step": 1764, "id": "4fe28195-ab26-4078-a051-92dedc8ce828"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1765, "end_step": 1894, "id": "88f4e589-adbb-4941-87b8-9a027fc67aab"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "goal", "start_step": 1895, "end_step": 1960, "id": "33b017b5-a4a1-420f-8f46-07748237927a"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "goal", "start_step": 1961, "end_step": 2100, "id": "a10fe01b-ed0f-45f5-8fd4-f95eb3ab8630"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}, {"label": "home", "start_step": 2148, "end_step": 2181, "id": "igu0b7srSWMw0LCa9-yJ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}], "episode_index": 13}
+{"source_uid": "58bfcc32399d1a99", "num_frames": 2086, "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, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "54486ea7-a634-4e75-8475-3314b9e9afcc"}, {"label": "valid", "start_step": 0, "end_step": 2050, "id": "tp0FZQ7FZdkLcnULwZxLO"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "goal", "start_step": 147, "end_step": 306, "id": "18a29c0e-9291-4fe2-bac1-7c9b5790eb8a"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "goal", "start_step": 307, "end_step": 382, "id": "93857fee-6a2a-475a-9604-0c26a3f0b0a9"}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "goal", "start_step": 383, "end_step": 514, "id": "73c7c013-8fec-4669-afbf-574cba185449"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "goal", "start_step": 515, "end_step": 612, "id": "d8a21ca4-3fab-4be9-9405-4a0c2d5437bf"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 613, "end_step": 754, "id": "0e383bf6-54ad-4686-86cc-4cbfa0652ef2"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "goal", "start_step": 755, "end_step": 816, "id": "5f39697e-d9f6-47c0-bb66-a0f40a830c16"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 817, "end_step": 952, "id": "a0c33a45-8ef7-464f-9322-2f1554292183"}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "goal", "start_step": 953, "end_step": 1018, "id": "f1be01fc-616b-4837-8619-281d0da2a01f"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 1019, "end_step": 1128, "id": "736d993e-44de-48d2-a65b-cd2a6e4e94b6"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "goal", "start_step": 1129, "end_step": 1220, "id": "a74f8f43-cda0-4464-be0b-2282fef73210"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "goal", "start_step": 1221, "end_step": 1470, "id": "36b03942-0278-4511-a496-0a140041fe58"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "goal", "start_step": 1471, "end_step": 1540, "id": "8d3e3d16-930b-45dd-be96-54f8336cfdd8"}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1541, "end_step": 1646, "id": "f42b006d-4f77-4575-a5bf-e8be9c66d94d"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "goal", "start_step": 1647, "end_step": 1702, "id": "3a465733-a591-4077-a75a-b5cb72f372bd"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 1703, "end_step": 1818, "id": "8449e205-81da-49f0-a6e6-6f7a42b60228"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "goal", "start_step": 1819, "end_step": 1882, "id": "da9a009b-2007-48d9-ae7a-358a391152ef"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1883, "end_step": 2010, "id": "b224ea87-2176-46bc-b6fc-760b29251a05"}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2051, "end_step": 2085, "id": "nz8Nwa0-9uMLhv92oLp3p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}], "episode_index": 14}
+{"source_uid": "f9f2ccd418a5175c", "num_frames": 2212, "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 on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "acd48c68-74b5-4748-a71f-cb4508e22279"}, {"label": "valid", "start_step": 0, "end_step": 2178, "id": "rjZSLFxLAh1bjdWZe-Ua4"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "goal", "start_step": 143, "end_step": 308, "id": "13edbd35-f5bb-426b-82be-7ce7f1f5e524"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "goal", "start_step": 309, "end_step": 368, "id": "c5512fe9-0491-421a-8c32-eaf26fcced39"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 369, "end_step": 508, "id": "5b315363-0dc6-40b8-a03f-a437665d0349"}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "goal", "start_step": 509, "end_step": 574, "id": "81714e28-4b2b-465e-8344-41083060a2a7"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "goal", "start_step": 575, "end_step": 706, "id": "fdfd922a-da6d-4a52-89d5-6e8559fc80e1"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "goal", "start_step": 707, "end_step": 824, "id": "e1ce5b26-96f3-4cf4-9a16-ec954005455e"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "goal", "start_step": 825, "end_step": 964, "id": "ac77b08d-a3dc-4273-b6c1-959049822a21"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "goal", "start_step": 965, "end_step": 1083, "id": "57e0e392-bf1d-4f96-9e2f-bcdd837d20a0"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "goal", "start_step": 1084, "end_step": 1205, "id": "2f907a4a-b3cd-4502-b04d-72681b969e49"}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "goal", "start_step": 1206, "end_step": 1279, "id": "48df63c9-d501-41b9-9cc4-1302bc849ea8"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "goal", "start_step": 1280, "end_step": 1453, "id": "66426fb9-ee8c-48b8-ac13-962356a428c7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "goal", "start_step": 1454, "end_step": 1523, "id": "09aa97f6-b514-4d6a-b513-84d72a1587bb"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "goal", "start_step": 1524, "end_step": 1695, "id": "b42bccf1-f7d8-48ba-84f4-e5ed1fe6d35f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "goal", "start_step": 1696, "end_step": 1773, "id": "e4596cb0-0a62-4299-94e4-453a2878a1eb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 1774, "end_step": 1915, "id": "8bc2c716-f9c0-4403-af88-c92965d11cd8"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "goal", "start_step": 1916, "end_step": 1993, "id": "fa01223a-8e26-417c-9d5b-d9a10916d8e5"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1994, "end_step": 2127, "id": "fb8eabfe-7ffc-4d60-b360-8ae54b0abc15"}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}, {"label": "home", "start_step": 2179, "end_step": 2211, "id": "jKWlZ8M_eyHhsxI5mz57L"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}], "episode_index": 15}
+{"source_uid": "6d9d984a8ca9dfe5", "num_frames": 2118, "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "2d548adb-b4ba-4470-8d3c-674e9349de86"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "LSaYJhsRLOJ9lFqwM95p9"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 149, "end_step": 300, "id": "b57f4046-d171-4c48-b27a-ef0b9eaad1ed"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 378, "id": "4e4be3f7-f618-491e-955d-1aada782fae0"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 379, "end_step": 526, "id": "c4dafc6b-272e-46c1-9dd5-e6e445e2eaf0"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 527, "end_step": 586, "id": "72577ee3-6e2c-4b1f-a419-7ddaadc4ee72"}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 587, "end_step": 728, "id": "56c8f382-47f4-413a-883b-c5d15aa699d3"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 729, "end_step": 802, "id": "9b583d6d-da50-4294-bfb4-68dfe6a66e48"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 956, "id": "61b13558-75a3-4556-9661-38cfe2c33bb6"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 957, "end_step": 1020, "id": "b619b62b-0b3e-4a9d-9338-fc006c854206"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1186, "id": "f4e32ea3-29f5-4e15-93ea-2e9c991285af"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1250, "id": "fb805c80-62e2-415b-9d15-e3af1b824887"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1251, "end_step": 1396, "id": "b565c9e4-d8c6-4cc1-b395-6b7b24e0fe85"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1397, "end_step": 1476, "id": "06d73fd3-a5fd-4009-a567-ae305df99e41"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "goal", "start_step": 1477, "end_step": 1620, "id": "ddbd7d38-fe7b-458b-b09d-6d163e347afe"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1621, "end_step": 1698, "id": "a2059bda-72e1-45ae-bd26-540f636648be"}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "goal", "start_step": 1699, "end_step": 1844, "id": "ebe31849-e55e-4eeb-b6f8-8ffe6e3a2802"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "goal", "start_step": 1845, "end_step": 1906, "id": "dc62884f-a637-4fe3-bcae-6c85702c3686"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "goal", "start_step": 1907, "end_step": 2038, "id": "227355d7-37e4-4219-b476-02c3c29920e3"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}, {"label": "home", "start_step": 2085, "end_step": 2117, "id": "JZr0X48o01BOdfTLE6VdK"}], "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}], "episode_index": 16}
+{"source_uid": "071e3df8697f39a3", "num_frames": 2433, "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "e253e0ae-2fba-4038-8efe-e5cf7a139ab7"}, {"label": "valid", "start_step": 0, "end_step": 2400, "id": "57xhHvkK-WMY5mfP9A7Bb"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "goal", "start_step": 119, "end_step": 234, "id": "5370f79d-aaee-4dbf-9768-77816546deb1"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "goal", "start_step": 235, "end_step": 312, "id": "f7bba1de-ee4e-4252-876f-366a473e9450"}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "goal", "start_step": 313, "end_step": 436, "id": "c5fe3045-e9a2-41b7-8e0c-0e698c4e3a34"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "goal", "start_step": 437, "end_step": 502, "id": "0c532cb4-e594-4e92-89ed-f3ed6257a15d"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 503, "end_step": 636, "id": "9ac848ac-e65a-474c-91a4-5e5a90f18350"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "goal", "start_step": 637, "end_step": 720, "id": "378efe45-cf36-422b-8dd7-c2b02c68fd26"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 721, "end_step": 1046, "id": "4cf11b78-5d9c-4462-9f70-a5b69bb8690b"}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "goal", "start_step": 1047, "end_step": 1092, "id": "76d1c379-dff1-4204-98c2-41a9802fe9f0"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1093, "end_step": 1308, "id": "97c32a9b-564c-4c58-b404-303316de3537"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "goal", "start_step": 1309, "end_step": 1380, "id": "67e2b594-a048-4efd-a59f-2a4965ef92e2"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "goal", "start_step": 1381, "end_step": 1528, "id": "a20191ac-1065-471b-95c9-a8c24cf071f2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "goal", "start_step": 1529, "end_step": 1602, "id": "8abcd9f2-f2bd-4a2c-bae7-b82a7039bdb2"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1680, "id": "b62bd8bc-e005-4230-bdb7-aada72f01530"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1681, "end_step": 1874, "id": "481126ac-20b7-4f96-9d2e-628107ec62dc"}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1875, "end_step": 2020, "id": "aeb3f65b-0c76-4b35-b923-5e5c193a640e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "goal", "start_step": 2021, "end_step": 2090, "id": "dbeaabae-dbfd-4023-add6-37e306655bef"}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2372, "id": "b4f5bd4b-b933-4197-a6e1-d2fb6956e301"}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}, {"label": "home", "start_step": 2401, "end_step": 2432, "id": "uRZtBjk5Rtg56WyHT2Vi9"}], "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}], "episode_index": 17}
+{"source_uid": "ed948361a07917de", "num_frames": 2023, "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: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "eeebd467-ca4b-408a-af1c-e440a61b923a"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "2zk7-56aEmMWnKHyio66H"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 296, "id": "1d611090-03f5-4ebf-ab01-451d5a87c617"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "goal", "start_step": 297, "end_step": 362, "id": "7fc51a06-c853-4038-8552-21200bff522c"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "goal", "start_step": 363, "end_step": 488, "id": "f65fbc7a-e5eb-4ddb-84b5-b3343eb9d53d"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "goal", "start_step": 489, "end_step": 559, "id": "f9c9d34a-b044-4ad5-9509-b02c560a9996"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "goal", "start_step": 560, "end_step": 701, "id": "81052293-981a-4a24-8508-a3e2a66f4092"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 702, "end_step": 765, "id": "f4e19e23-7571-4106-a0c0-18f0eb934d95"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 766, "end_step": 929, "id": "cdb40033-b6c6-46ff-98a0-03b3a0523d8a"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 930, "end_step": 1005, "id": "770e1805-faaf-44f4-a099-f098d47a1a7c"}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "goal", "start_step": 1006, "end_step": 1133, "id": "9bf8e2d9-7088-485a-8299-98837d128966"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "goal", "start_step": 1134, "end_step": 1197, "id": "e0d18531-c6e2-429a-8b23-8b00a1c61d9c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "goal", "start_step": 1198, "end_step": 1313, "id": "3b60ae54-4761-4224-b48a-13c4c3347476"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 1314, "end_step": 1391, "id": "cecac0e8-5c92-4e37-857f-ebd0b8dfeaab"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1392, "end_step": 1519, "id": "8289047f-5eab-4028-9a56-4e4f59e2c384"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "goal", "start_step": 1520, "end_step": 1589, "id": "f123be94-728c-47a3-9fcc-a055c32e47f2"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1753, "id": "d1593560-0c0a-4a4e-8165-9f0e9aa01afa"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 1754, "end_step": 1811, "id": "4e481856-9654-41f2-a7f5-8582c5e03a83"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "goal", "start_step": 1812, "end_step": 1949, "id": "b2b1cd6d-9be5-4de6-a6cc-a7322588c267"}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}, {"label": "home", "start_step": 1991, "end_step": 2022, "id": "Qs29bBuEOmi2CZM_xuMxO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}], "episode_index": 18}
+{"source_uid": "f2041b13e6e8d424", "num_frames": 1920, "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: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 127, "id": "b530e6e0-4075-4fec-b3cc-0a76da92c85d"}, {"label": "valid", "start_step": 0, "end_step": 1887, "id": "dvrgAnId85d6sfg2IcTIb"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 128, "end_step": 269, "id": "8c83851a-959e-4fd1-9a53-f3c880b9f8f3"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 270, "end_step": 331, "id": "4a30d006-8d39-47df-a8fa-7baee1fa68b2"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "goal", "start_step": 332, "end_step": 445, "id": "83810567-129f-422e-9023-d01036ed5f7b"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 507, "id": "1a549c76-0c20-4f63-95a0-25f2c4c47c66"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 508, "end_step": 613, "id": "86c83d37-a2e9-4cc4-a5d8-1039bf55a069"}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 614, "end_step": 669, "id": "65119adf-9bd8-4649-a301-4dad1d62f864"}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "goal", "start_step": 670, "end_step": 761, "id": "3e8df3b9-955b-4724-a0e4-8561cd22389d"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 762, "end_step": 837, "id": "62897ca8-4cc9-4bfb-8bed-4eb142155056"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "goal", "start_step": 838, "end_step": 967, "id": "6e3eec90-bc67-456c-ba95-e9945d720d1c"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "goal", "start_step": 968, "end_step": 1039, "id": "603d80d5-1138-4ffd-9d7a-b970cf13b790"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "goal", "start_step": 1040, "end_step": 1165, "id": "4211fabb-0550-414f-be7a-d7b6712dc4cc"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "goal", "start_step": 1166, "end_step": 1239, "id": "29a5fc7e-1355-4c04-9cc3-80acdfbfef9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1240, "end_step": 1351, "id": "e6612ab4-c2f1-4fe9-b2f5-9537f491d5a5"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1352, "end_step": 1413, "id": "27a60d09-56d7-4ddb-9f63-f62ef54f9f3b"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1414, "end_step": 1541, "id": "804a0dda-64b6-4deb-89f8-4ed8a349aa3f"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 1542, "end_step": 1653, "id": "63a21528-c6aa-42f2-9ce6-d982d9328488"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "goal", "start_step": 1654, "end_step": 1837, "id": "d4713a9a-f523-4599-9d5e-b556caa12d5d"}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}, {"label": "home", "start_step": 1888, "end_step": 1919, "id": "Rc84RRsT_Ke0RUm8lKKdv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}], "episode_index": 19}
+{"source_uid": "3a1303e2febd2064", "num_frames": 2329, "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": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "7b932916-def8-4f6b-a0b5-9ac4197890e4"}, {"label": "valid", "start_step": 0, "end_step": 2297, "id": "L9OVipnax-0NY6JqGNOTg"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 143, "end_step": 302, "id": "90f9e768-a4f1-495a-bd64-2f0e94ec8d3c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "goal", "start_step": 303, "end_step": 398, "id": "20ee45c4-fc6b-424b-b101-b89708c5aaba"}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 399, "end_step": 522, "id": "9d4504ba-cf06-46c2-ae62-563d01f25dbb"}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "8a1763cb-1c27-4969-a68c-89ca7a442551"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "de7c3d17-a934-42b3-b1c5-e9d3afe4d37e"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "goal", "start_step": 741, "end_step": 792, "id": "d44c3500-3022-4d7a-87ce-2e58d118d042"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 793, "end_step": 910, "id": "bd719c92-6279-4a0e-9d7f-0723eab8c010"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "goal", "start_step": 911, "end_step": 1036, "id": "ee6905c3-e5ab-4299-8051-fc953d10d7cc"}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "goal", "start_step": 1037, "end_step": 1264, "id": "6ddb4121-eb9b-46ae-bae3-c1f82f238af7"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1334, "id": "a0f5efca-a9cd-4609-9751-6d15e21afa72"}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1335, "end_step": 1500, "id": "4ad2274b-58e7-4586-8be0-0c554df21551"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1570, "id": "7965f650-4269-4662-930b-4128f7a082e0"}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "goal", "start_step": 1571, "end_step": 1696, "id": "ff071a33-85b8-4e90-89b0-c15a9228c409"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "goal", "start_step": 1697, "end_step": 1754, "id": "3e800d1b-d4b8-4ceb-8a46-bce4eb5d46cb"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 1755, "end_step": 1976, "id": "31988f46-1719-43fa-8c89-9bb9eca8fa25"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1977, "end_step": 2114, "id": "68280a6d-af57-4c39-9f29-48c5a9f6962c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2115, "end_step": 2262, "id": "3a0e7d9b-705e-430b-8c70-01b158c4e60b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}, {"label": "home", "start_step": 2298, "end_step": 2328, "id": "3q2wo8S7WFBWhqnbAfews"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}], "episode_index": 20}
+{"source_uid": "583240a391765b19", "num_frames": 2298, "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "54c0da18-d642-48fa-a88a-3ec1eb6a617c"}, {"label": "valid", "start_step": 0, "end_step": 2261, "id": "8I9t2KE13OXj_Upcz0C15"}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"label": "goal", "start_step": 129, "end_step": 276, "id": "5c1439e8-2ff7-4a82-91b4-a3a8ad4024fe"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 277, "end_step": 356, "id": "51ef5809-c6f9-46eb-83c2-387e94a01849"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 357, "end_step": 494, "id": "e55ddd60-c09d-46a0-ba0b-b116b3a47974"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 495, "end_step": 576, "id": "7000443b-1338-48f4-a3b6-fc624a7f0050"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "goal", "start_step": 577, "end_step": 802, "id": "2db83ae0-32b3-499a-a708-514e06055ce1"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 803, "end_step": 878, "id": "cfced2f7-1123-4cc5-9490-f0bd05f923ea"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 879, "end_step": 990, "id": "ab8eb5e4-6bc1-4d4a-b237-248953d6d7d5"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1066, "id": "eeb63474-7b00-4d07-afca-c0361b27a82b"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "goal", "start_step": 1067, "end_step": 1186, "id": "157cd3e0-3d2a-4fab-a243-56fa6df8178a"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1276, "id": "336ddc62-14b0-42ba-b3dd-4b31ac3ce123"}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1277, "end_step": 1388, "id": "dc9feeb2-266a-4ff7-9c7c-6d134f7846f7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1389, "end_step": 1440, "id": "5da7d5c3-bdf0-4a01-9ff6-db02a545f3f0"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "goal", "start_step": 1441, "end_step": 1558, "id": "037a83b0-1054-4336-8957-5d4f0df1d7d3"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "goal", "start_step": 1559, "end_step": 1629, "id": "fa4fc280-7bef-463a-bb25-9c815fcbca56"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "goal", "start_step": 1630, "end_step": 1757, "id": "3e0d92ae-e8a4-47eb-b39f-07d170ba345e"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "goal", "start_step": 1758, "end_step": 2005, "id": "8bc35d09-2de6-4df8-b6f3-2750cbb14313"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "goal", "start_step": 2006, "end_step": 2227, "id": "af01a969-f483-411b-af2a-e7393803f6d5"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}, {"label": "home", "start_step": 2262, "end_step": 2297, "id": "UJrcCm678pGSR5XYAMbCD"}], "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}], "episode_index": 21}
+{"source_uid": "f9000861d46dc5e6", "num_frames": 2401, "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "d613e7da-8f73-4ff6-8b72-f57edf2fd5ed"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "TwykzoF3_8OGfHDMbiYyo"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 123, "end_step": 238, "id": "4704ed47-0702-4fd2-a94f-06963fc572b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "goal", "start_step": 239, "end_step": 310, "id": "69b00d5d-9354-45e3-892c-3c74968061b6"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "goal", "start_step": 311, "end_step": 438, "id": "361107c5-ee97-4310-8882-1974bd40fed4"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 439, "end_step": 552, "id": "e95e1b53-a85f-4c18-a2d0-abb81adbbeac"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 553, "end_step": 682, "id": "9300becc-5d05-4e7d-b687-be20eca4a483"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "goal", "start_step": 683, "end_step": 772, "id": "ad2af707-523d-44f4-8226-ca174b0c01c7"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 773, "end_step": 902, "id": "7b479347-8af8-40ce-8b0d-d56fc8f98ce0"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "3cc43ec5-14bc-4a5a-84f1-dc3bf5d28710"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 975, "end_step": 1094, "id": "794e2dcc-aff2-4c46-a7d8-7fefa9128f8b"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1095, "end_step": 1180, "id": "c5e39abb-4859-4612-b674-1451202e13ff"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "goal", "start_step": 1181, "end_step": 1426, "id": "7bf4000d-a9b1-4359-8f46-d24dd3b885a7"}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "goal", "start_step": 1427, "end_step": 1504, "id": "61abe14a-aa76-40a8-8713-367fd51e6709"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 1505, "end_step": 1754, "id": "0db00174-12f5-4f13-acd0-719cb4edc8a6"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"label": "goal", "start_step": 1755, "end_step": 1840, "id": "e1a5f462-c9ed-45b0-b27d-02f9ee4fb33f"}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "goal", "start_step": 1841, "end_step": 2082, "id": "fcfc6362-5846-444f-8550-4040415384c6"}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "goal", "start_step": 2083, "end_step": 2188, "id": "8d4c62bf-fda2-4b7e-8e43-0bc3a0279466"}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "goal", "start_step": 2189, "end_step": 2330, "id": "fed5f54c-65cc-4e36-84a4-716c055b64a6"}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}, {"label": "home", "start_step": 2365, "end_step": 2400, "id": "tP_2WXqe5N241CiTPMlcq"}], "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}], "episode_index": 22}
+{"source_uid": "fdf59a469cf3c4b7", "num_frames": 2396, "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: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0d571dbb-81ce-42a7-bc39-a728108f1dcc"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "LRZ30F36g8E3lDK44NW-u"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 222, "id": "e951b3f2-eb7d-4820-9c5e-e87c52dec6fe"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 223, "end_step": 310, "id": "b709d484-d4bf-42ce-9ecb-d6c2bdfc5301"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 311, "end_step": 412, "id": "1c8f01d9-2522-4d96-a1ba-13d3467a86e8"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "46cce65c-bf69-476b-9fdb-285b7e6fc4b8"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "goal", "start_step": 485, "end_step": 638, "id": "b07df91b-fbfa-4c2f-a992-2caa5b193eff"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 639, "end_step": 710, "id": "643dd5c4-aa75-4cc5-b78f-ba3a8b6b5088"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 711, "end_step": 928, "id": "78eed047-a797-4bd3-be5d-dfbd16cb4874"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 929, "end_step": 1018, "id": "becf39d4-5600-4836-be61-f64d9e721c90"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1019, "end_step": 1340, "id": "09e10546-3e44-4f13-acae-cbbd2c5a79d3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1341, "end_step": 1430, "id": "6872869b-7db1-4d2f-bd8d-95af89b93c0b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1431, "end_step": 1574, "id": "5fa6cd59-72e8-4c44-b0f8-3ade94f4b07c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1575, "end_step": 1694, "id": "a73fd8e5-74fa-4776-8a46-b3eae29c5168"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1695, "end_step": 1792, "id": "2f254fe8-b92f-434b-b00a-14d4b9b9782a"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "goal", "start_step": 1793, "end_step": 1882, "id": "b1b6b422-988b-4735-b527-2fba325ce9c1"}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "goal", "start_step": 1883, "end_step": 2086, "id": "2c6e151c-ac68-41d7-81af-f0ca69eb2882"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "goal", "start_step": 2087, "end_step": 2174, "id": "5fd5e7d2-1da5-4c27-b22b-179f60087b35"}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "goal", "start_step": 2175, "end_step": 2330, "id": "a99015d3-0538-40c2-82be-b93e4a257d22"}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}, {"label": "home", "start_step": 2365, "end_step": 2395, "id": "41kAw_FkHgETj_DIL3JWc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}], "episode_index": 23}
+{"source_uid": "d18b46ce61cc1ac6", "num_frames": 2161, "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_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "b603c8ec-dfbd-4aba-b5aa-0f325476ba98"}, {"label": "valid", "start_step": 0, "end_step": 2128, "id": "hf9_ixf4g44F8dYMasgGy"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "goal", "start_step": 127, "end_step": 268, "id": "5ecd2754-b04f-4cd5-aeb0-71a61726c195"}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "goal", "start_step": 269, "end_step": 342, "id": "f4f68bc5-a69d-4602-8a87-ef57684ec7bf"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "goal", "start_step": 343, "end_step": 502, "id": "1129e729-5696-4058-a618-f0e8472eb0bd"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 566, "id": "22de959e-ad5e-4350-b711-5fd1bc01c5a0"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 567, "end_step": 734, "id": "0476f68f-33b6-4a75-8b71-5bf3c67da37a"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 735, "end_step": 814, "id": "33f54a61-2411-4cd1-b8f4-dda8fd934910"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 815, "end_step": 940, "id": "6d885bc3-7aef-44af-8ce0-69e9325d1b40"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 941, "end_step": 998, "id": "196c5070-f748-4ca3-90fc-a52561ba89d4"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "goal", "start_step": 999, "end_step": 1136, "id": "7af2ccf6-30e0-4015-bb21-f501dc1fba9d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1224, "id": "29a3579c-a727-43ec-888c-53cbf6e0f1cd"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1225, "end_step": 1350, "id": "b2a5f583-d46f-4f08-a5b2-bb6910faf2ab"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "goal", "start_step": 1351, "end_step": 1434, "id": "0313216b-0b81-4e90-abe2-3bef133bea75"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1606, "id": "068e2c80-ae88-4110-865b-41bbdccfaa93"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1607, "end_step": 1680, "id": "7b5b7754-f2ff-4a94-aa5c-0571e7c2eb72"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1681, "end_step": 1838, "id": "c543e3f2-2354-4a95-b7e9-db77de80c907"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "goal", "start_step": 1839, "end_step": 1898, "id": "e051a83e-a4fb-4086-bf03-99cb5912426e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1899, "end_step": 2082, "id": "ec0c10b8-c3d6-4f1c-a171-0f81f267c40e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}, {"label": "home", "start_step": 2129, "end_step": 2160, "id": "K6KCpKWGhhxvpJJJZ8kI_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}], "episode_index": 24}
+{"source_uid": "c23fe238c6cde478", "num_frames": 1994, "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: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "34393b05-7a23-48f1-bf43-9d049599c80a"}, {"label": "valid", "start_step": 0, "end_step": 1961, "id": "ci9ADBpZL05a7CaDv9KYs"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "goal", "start_step": 123, "end_step": 298, "id": "6bca4a10-8919-4249-a7f9-78aad97be19d"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "goal", "start_step": 299, "end_step": 372, "id": "a552ef9d-c3fa-4fe2-bfbd-40e32ee24c98"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "goal", "start_step": 373, "end_step": 522, "id": "05df9a2a-024c-4738-bf0a-a310453e4c85"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "464810e5-600a-4849-9d3b-40841d0f714f"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "1c4cadd4-6847-4831-9807-a666afa70230"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "goal", "start_step": 741, "end_step": 808, "id": "09463540-e6ff-46cd-82cb-c517626b0fb6"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 809, "end_step": 918, "id": "b1996ffe-0c51-44d4-be01-fb8c2d185ae3"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "goal", "start_step": 919, "end_step": 994, "id": "2b7aa01d-1b77-4771-bbd1-1cab8f43195d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 995, "end_step": 1158, "id": "86316982-9cfb-4ab6-ae9b-be73f6773eea"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1224, "id": "6b177b84-ece9-4c1c-8524-284809c7f0de"}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1225, "end_step": 1392, "id": "badfc806-8fc4-4609-bde9-77c3fbb50438"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "goal", "start_step": 1393, "end_step": 1442, "id": "32fbb34f-e6f6-453a-8eeb-3dc7b5f93e7b"}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1443, "end_step": 1550, "id": "1bee12b9-2a22-4f39-a714-07b7ffe2c613"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "goal", "start_step": 1551, "end_step": 1614, "id": "0603685b-2c45-49af-bde6-0d2d852ab228"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 1615, "end_step": 1754, "id": "62fd6daf-7ffb-4bea-80eb-03b6ab428be3"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "goal", "start_step": 1755, "end_step": 1814, "id": "4b991101-0a97-4a41-adf3-f5e5373fe7db"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1815, "end_step": 1930, "id": "2cdf8b67-59b4-4e18-9771-64d422b1ca87"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}, {"label": "home", "start_step": 1962, "end_step": 1993, "id": "g7_6z8D9BzizIqxjZ8_RK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}], "episode_index": 25}
+{"source_uid": "83f4d2aa760603c7", "num_frames": 2324, "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: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "ba5373e4-a629-4bfe-af1e-725fb5e04c9e"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "IA2gDfPdfqKhxAjkXlsaP"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 252, "id": "433a2f77-3540-439d-954a-3e744e7ca6e8"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "goal", "start_step": 253, "end_step": 326, "id": "77ae9905-8a72-442b-bfec-5fef8127f1bb"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 327, "end_step": 574, "id": "b4040319-93e6-4d46-865b-0e1282280eb0"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 575, "end_step": 646, "id": "41e64121-89d6-4adf-9649-5f9bf0addbed"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 647, "end_step": 818, "id": "4c5b5094-3374-49e8-bcba-79fa0758652e"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 819, "end_step": 874, "id": "300889db-0dc3-4d8c-a39a-bfb950f33bfc"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 875, "end_step": 982, "id": "dba4c439-a0fd-4a67-afed-5ed8c495b78a"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 983, "end_step": 1050, "id": "07e1c03e-e2aa-47b5-bdca-5093e251173e"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1051, "end_step": 1188, "id": "0ae49894-808d-4f66-a25f-949da914165a"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1258, "id": "8b32fd3c-64b6-4f06-b9a0-76efc638ebea"}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "goal", "start_step": 1259, "end_step": 1380, "id": "e57536b3-ee0d-4f48-a3e3-567d5a2dac19"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1381, "end_step": 1454, "id": "65f6de4f-eb85-44b4-be79-3f328170260e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1455, "end_step": 1620, "id": "4bf7c894-cd2c-4c3a-a51f-d8c5cf874932"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 1621, "end_step": 1684, "id": "907fecad-06b2-4ca9-8d90-b64a9c2e6339"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "goal", "start_step": 1685, "end_step": 1810, "id": "79931ccf-e46b-4aab-9e64-f778ccef8f2a"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "goal", "start_step": 1811, "end_step": 1874, "id": "4c172254-9824-469d-887e-2168905400a7"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "goal", "start_step": 1875, "end_step": 2258, "id": "f4c6fa4b-cce0-472b-99b1-670ab180691b"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}, {"label": "home", "start_step": 2290, "end_step": 2323, "id": "FJmoWE5DQb-LjpO-xfvFV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}], "episode_index": 26}
+{"source_uid": "191eb4e8be6cf840", "num_frames": 2133, "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_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "52db5c36-6527-4fb4-b76c-6c092406e005"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "zQ0teTTIL1pU2bgkdvNSv"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 240, "id": "8f1c9797-32a8-4930-aa06-d875691e9f33"}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 303, "id": "5f1a047c-c1ac-47ed-b8cd-e9c1f096112e"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "goal", "start_step": 304, "end_step": 483, "id": "12ab257b-c8cf-471b-a780-8e73999e9a10"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 484, "end_step": 539, "id": "81113756-b517-46cf-9fd3-ce9ae666df74"}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 540, "end_step": 763, "id": "9978f91e-ab21-4f01-86f1-f6e17e39fe2e"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "goal", "start_step": 764, "end_step": 841, "id": "e0716298-c2a9-4fc9-93a5-5aef2b91a93a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 842, "end_step": 957, "id": "1666b130-0c46-4d1e-9b53-9a7f8da791a3"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "goal", "start_step": 958, "end_step": 1027, "id": "ea764a32-8e08-4861-82ac-156832781ee4"}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1028, "end_step": 1195, "id": "26852c7b-e54a-46ae-9bb6-1c80808fc12d"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1196, "end_step": 1251, "id": "84f11ee1-ea7e-4656-87c2-b18c0d498986"}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1252, "end_step": 1387, "id": "0f5e57ca-c2bb-4bd5-acd5-2bbf0c35cea7"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1388, "end_step": 1455, "id": "935a5b51-0261-4cd1-a2bb-6590ed6a67c0"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1456, "end_step": 1571, "id": "692d4451-4c12-43d0-ac71-9e631223f83e"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1572, "end_step": 1629, "id": "78507f22-cdca-4036-ab66-abad713008b4"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1630, "end_step": 1743, "id": "bf20ae04-b492-40e0-bbfd-93fb62c37c3a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1744, "end_step": 1807, "id": "792c0285-3c34-4ad7-8d0d-82b7aa87f547"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "goal", "start_step": 1808, "end_step": 2057, "id": "74c8bae5-bb42-4b18-8f87-d58e446c21af"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}, {"label": "home", "start_step": 2099, "end_step": 2132, "id": "m0WofIp_P7YEhUwehCh47"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}], "episode_index": 27}
+{"source_uid": "f3ee56df0e32628e", "num_frames": 3103, "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 on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "c4a544cf-7216-4100-a622-bb6fb79c132a"}, {"label": "valid", "start_step": 0, "end_step": 3067, "id": "LAgOzebX8d_tBcLw1dtEi"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "goal", "start_step": 125, "end_step": 264, "id": "95a29c3a-5126-4cac-a2f2-b66a8f990fa5"}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "goal", "start_step": 265, "end_step": 334, "id": "f0388da8-36e1-4f20-a7f5-8e51dcebfaf6"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "goal", "start_step": 335, "end_step": 468, "id": "9219fd5f-3f85-4b99-93fb-71dcff373817"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "goal", "start_step": 469, "end_step": 540, "id": "8cb61686-97ed-4ca5-afce-0c508f2cf8d0"}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "goal", "start_step": 541, "end_step": 804, "id": "67828e0d-3317-4945-9d4e-5b646a58ca63"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "goal", "start_step": 805, "end_step": 870, "id": "d79bfca1-c4be-4000-96b6-b1bf9e942690"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "goal", "start_step": 871, "end_step": 1518, "id": "e8b20037-a30b-4c3c-9612-1c4c7fe3ee7a"}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "goal", "start_step": 1519, "end_step": 1588, "id": "0b3f6bfc-3df2-4be6-98e0-0e80e992e60e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "goal", "start_step": 1589, "end_step": 1730, "id": "d352410d-2306-4099-be47-bbba441dff7a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "goal", "start_step": 1731, "end_step": 1798, "id": "dcb930fd-6ef1-444d-8705-18b4058edb92"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "goal", "start_step": 1799, "end_step": 1910, "id": "15a9c068-4da6-4941-bf97-448b3bd7ffd5"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "goal", "start_step": 1911, "end_step": 1976, "id": "f1aa7487-7c9b-409c-b606-601f3affb0d3"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2130, "id": "d18ac3c5-e2a9-4a95-82be-f47a1f575253"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "goal", "start_step": 2131, "end_step": 2178, "id": "b2b83d51-731b-41d9-b4c1-c5d0c1aeadd0"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "1a01e498-8555-4fab-a0a9-796e7fa85e30"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "goal", "start_step": 2425, "end_step": 2486, "id": "3457da86-c1c1-4365-9388-431ff3d6bc97"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 2487, "end_step": 3024, "id": "1d580850-59b9-49cc-95a7-9b10c6a75dfa"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3068, "end_step": 3102, "id": "daslhGy6EGX83sQm70BgM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 28}
+{"source_uid": "7d5484fe619df169", "num_frames": 2418, "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 located in front of the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "26fdaba9-79a7-4b9d-9702-8ecc8ff87f3f"}, {"label": "valid", "start_step": 0, "end_step": 2384, "id": "f-MLWmrIxKzFLTMhGX5C6"}, {"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 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": 111, "end_step": 300, "id": "3ceae929-52de-4506-bf6c-615bf6db7719"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 301, "end_step": 372, "id": "ec5f8aec-8775-4f83-a9fc-a578bf2e1c57"}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "goal", "start_step": 373, "end_step": 486, "id": "09aaf7d8-e3dd-4e4a-bc4e-af903b492c34"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 487, "end_step": 554, "id": "544bef78-9462-49f4-bc89-0ed84c74730d"}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "goal", "start_step": 555, "end_step": 724, "id": "f1edeb91-3882-46d5-b95a-cc498b6d8a1a"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "goal", "start_step": 725, "end_step": 780, "id": "84594faf-7b8b-42ea-b061-a68d8b359c8d"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "goal", "start_step": 781, "end_step": 900, "id": "c7a088c0-82e8-44ec-a218-1bb3fd06bcfa"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "goal", "start_step": 901, "end_step": 1108, "id": "5d674593-dc01-4e41-916b-d76d30f547da"}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "goal", "start_step": 1109, "end_step": 1236, "id": "73ed3f75-d0e3-4f87-9213-339a74073cea"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1237, "end_step": 1356, "id": "9d4989b3-a4bb-4b91-9766-77c5654f5658"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1357, "end_step": 1490, "id": "0f5f8286-3d77-496d-b606-9b319eb36a3b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "goal", "start_step": 1491, "end_step": 1582, "id": "1ef5d0d7-7316-473a-b96e-5c6a68c6bfc2"}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "goal", "start_step": 1583, "end_step": 1750, "id": "3a058a75-6af2-414f-81b2-3a96a54c264a"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "goal", "start_step": 1751, "end_step": 1822, "id": "fabe1ab5-702b-4cfb-ab01-86e35245df23"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "goal", "start_step": 1823, "end_step": 2144, "id": "c148f427-8c3f-4fa9-807c-93a7beea0ce7"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "goal", "start_step": 2145, "end_step": 2226, "id": "388a757e-343c-470c-80af-64c51bb24883"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "goal", "start_step": 2227, "end_step": 2346, "id": "f18b4427-5208-42ab-8ade-6cfd0a9ca7e6"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}, {"label": "home", "start_step": 2385, "end_step": 2417, "id": "Q_-b38uHe6X98PFcGST4z"}], "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 located in front of the wooden base on the black table."}, {"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 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": 135, "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: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}], "episode_index": 29}
+{"source_uid": "826d7e023867acc7", "num_frames": 2220, "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_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 104, "id": "88761c44-089a-414e-b38a-8646a153b050"}, {"label": "valid", "start_step": 0, "end_step": 2189, "id": "SDhWS7PbR_uYn_WnNx7qr"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 105, "end_step": 244, "id": "6a54b108-22bc-4d8a-b6fd-8d6ef4fbc15e"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "goal", "start_step": 245, "end_step": 302, "id": "adb2a0c4-f8fe-4b5b-bb34-eafdc99f1c0b"}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 303, "end_step": 520, "id": "b4575435-9ef8-4b6f-9400-8ea13ab18d0d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "goal", "start_step": 521, "end_step": 608, "id": "c90de2b3-4370-4ca5-984a-b27bd9e1c81e"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "goal", "start_step": 609, "end_step": 782, "id": "4e561687-821e-478f-b24f-a27c6ef74665"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "goal", "start_step": 783, "end_step": 844, "id": "33fc07bf-037d-4c8a-9656-addc94e86b20"}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 845, "end_step": 978, "id": "4e5f039c-b788-4755-ac3c-0cc021e6baa2"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "goal", "start_step": 979, "end_step": 1058, "id": "41b3633f-3311-415c-a4b9-44f80d4bffa9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1059, "end_step": 1172, "id": "981dcb3f-71b8-43a1-82c3-ab0c5b10305f"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1173, "end_step": 1246, "id": "13265388-ffa2-4556-8547-ff51fc0208ec"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "goal", "start_step": 1247, "end_step": 1384, "id": "2fd353a8-534a-4370-8ed5-d93ea8942e47"}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "goal", "start_step": 1385, "end_step": 1592, "id": "fea88eaa-f96e-4bad-9069-569cbe09a18a"}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "goal", "start_step": 1593, "end_step": 1718, "id": "3235bb5e-ed28-423c-8bb5-b6c9c93811d2"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1719, "end_step": 1802, "id": "6f1c83fa-748b-4cf6-bbdb-1bb2bb851c61"}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1803, "end_step": 1958, "id": "621cb06a-60c4-4ae0-b633-c38907e24c85"}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "goal", "start_step": 1959, "end_step": 2030, "id": "cad53b2b-1c06-4eb8-bfdb-ff163e0415a4"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2031, "end_step": 2146, "id": "0b788439-5ef6-40f4-823c-54ace52325ab"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}, {"label": "home", "start_step": 2190, "end_step": 2219, "id": "_ih5W5QvygMuz5LK7i0G3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}], "episode_index": 30}
+{"source_uid": "8f59d7fb094f3193", "num_frames": 1957, "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "ccacc417-f1d1-460e-868f-613983f9c31f"}, {"label": "valid", "start_step": 0, "end_step": 1926, "id": "8jR05v-M6bC20AtAh1N0s"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 232, "id": "995ec6a7-e622-45a9-a1d5-e580b8b5899e"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 233, "end_step": 298, "id": "a59d49df-5f84-4ed2-83c0-1c9b14939087"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 299, "end_step": 410, "id": "52c0ea0b-a2a2-4726-ac4c-a70fa96c8a28"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "goal", "start_step": 411, "end_step": 480, "id": "03371cde-16ec-4bdf-9998-dce167f1804c"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 594, "id": "7dcbfd1a-3672-4d26-944c-b5c9c7a9c18a"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 668, "id": "9b2bb254-b696-43db-ac2f-aa5447ee263b"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "goal", "start_step": 669, "end_step": 842, "id": "90e116d3-45b8-498a-8a39-1bb2d079fa3e"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 843, "end_step": 900, "id": "8239b380-c38c-4a8f-a058-32cd18d33ce8"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 901, "end_step": 1014, "id": "c7864cfc-3c59-408e-9e23-222b3f6930e2"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "goal", "start_step": 1015, "end_step": 1152, "id": "9dd127aa-7f68-49fd-b945-3ba359965ab1"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1260, "id": "ebf63628-8dad-4f53-83f7-3a1472e1f882"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1261, "end_step": 1324, "id": "330cc99b-df3b-47f8-b4b2-bd5c74322492"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1325, "end_step": 1404, "id": "7fb15e24-1fe5-4652-aa85-b42f81df16fc"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "goal", "start_step": 1405, "end_step": 1566, "id": "ff892c57-0093-41b0-a257-3a080d97ffcc"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "goal", "start_step": 1567, "end_step": 1680, "id": "60d776b8-5d80-4962-bfc3-538a354cc939"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "goal", "start_step": 1681, "end_step": 1729, "id": "2b8a3524-5ada-44ad-a538-bf6c3e41066f"}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1730, "end_step": 1879, "id": "b32ada5f-3a5c-4bb3-84d1-2ed99895a0e0"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}, {"label": "home", "start_step": 1927, "end_step": 1956, "id": "W1mG5K3Qli1K2VQXgHBUX"}], "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}], "episode_index": 31}
+{"source_uid": "1b6f0a17514186e7", "num_frames": 2365, "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "5b8d8201-5129-46c7-93eb-b8060f712d2e"}, {"label": "valid", "start_step": 0, "end_step": 2332, "id": "TXHXfs0F6XfVmHlJtcnNF"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "goal", "start_step": 109, "end_step": 210, "id": "1b976177-47c7-420c-aec8-058b20b24a65"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 211, "end_step": 283, "id": "d824d8e4-8bb3-4f43-97fe-d7a4c8d5b712"}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 284, "end_step": 505, "id": "0b4d38b7-c165-4bf5-9fb5-9215766f8f13"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "goal", "start_step": 506, "end_step": 583, "id": "c5c62e32-20d0-41d6-bc73-5b8a191d2181"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 584, "end_step": 693, "id": "8e412c0b-588d-4ebf-ba71-5455fe8ab350"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"label": "goal", "start_step": 694, "end_step": 763, "id": "9140680d-8bcc-4643-a4d8-0ffde0d46212"}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "goal", "start_step": 764, "end_step": 905, "id": "f01c8fbd-10cc-4c78-9cdd-2983c964d889"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "goal", "start_step": 906, "end_step": 959, "id": "03d0eb3f-eca1-4ee9-b5bb-e0e80b71ab1f"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 960, "end_step": 1073, "id": "80921e3a-e5ac-4e67-8fed-55fbaedea62b"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "goal", "start_step": 1074, "end_step": 1139, "id": "fb46a1e5-6a0d-4a03-b648-39b4a56efa29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "goal", "start_step": 1140, "end_step": 1773, "id": "12eeab78-668e-4c2a-b218-0d4aa9fed78b"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "goal", "start_step": 1774, "end_step": 1845, "id": "cd5b133a-69e1-44e1-8057-c6548322a9a7"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "goal", "start_step": 1846, "end_step": 1935, "id": "bd8aebd1-1a7d-4e48-bba5-960c644ea5f8"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 1936, "end_step": 1997, "id": "f3241ba8-fb62-4feb-af1f-8836abe1ff63"}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1998, "end_step": 2095, "id": "edce3d8c-a1f7-4bfa-89c2-1a37db9ab4a8"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "goal", "start_step": 2096, "end_step": 2165, "id": "ce7ed159-0301-4eb3-8ab7-76899854ae90"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2166, "end_step": 2295, "id": "27139636-6188-4f8b-8b87-075d8597b98d"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}, {"label": "home", "start_step": 2333, "end_step": 2364, "id": "tjCchmprXMonM6tqEEKtU"}], "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}], "episode_index": 32}
+{"source_uid": "b56a1a23f7463f01", "num_frames": 1910, "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "88c3d9f4-1031-4fbb-8c9a-254f7cccd910"}, {"label": "valid", "start_step": 0, "end_step": 1881, "id": "sQQXCk9nlJ6kONG3NGBbE"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 115, "end_step": 228, "id": "a623583e-d75e-43b4-870e-1cce56ab6fa5"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "goal", "start_step": 229, "end_step": 304, "id": "5afef8a3-0115-4a17-aa79-c8b72e690598"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "goal", "start_step": 305, "end_step": 412, "id": "353e7bfc-e7f0-411e-b469-e210c6ee1888"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "goal", "start_step": 413, "end_step": 462, "id": "243c45ed-2d44-4588-84da-31154a32d60c"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 463, "end_step": 634, "id": "42222b42-e8d8-48df-bbb6-c8d253f73f84"}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "goal", "start_step": 635, "end_step": 702, "id": "cb09257a-37e5-4bb6-b85c-a45c5a63a0ac"}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "goal", "start_step": 703, "end_step": 822, "id": "3d1ce83f-079a-40ae-bb36-f1a05a650ba0"}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": "goal", "start_step": 823, "end_step": 874, "id": "368d3ad8-29e0-436d-a662-c228a60fa742"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 875, "end_step": 986, "id": "ba425457-2874-4365-9b24-af70d37b2062"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "goal", "start_step": 987, "end_step": 1044, "id": "5e381de3-2e8f-48aa-ac33-aa7ca4f3d249"}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1045, "end_step": 1162, "id": "f845ac5b-3ffb-4e46-8473-6c264930cbde"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 1163, "end_step": 1244, "id": "8f4a2d6a-3289-440b-b88a-42252cc689fc"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "2b6c1315-4fed-4481-a20a-60ec684a6184"}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "goal", "start_step": 1341, "end_step": 1500, "id": "6b6e26e5-66ec-4019-baee-50847d3eee49"}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1634, "id": "94fe5c8e-0429-4b07-9a1f-7ac204f45f2a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1635, "end_step": 1704, "id": "36da88a9-1e0c-4389-a785-c45e845fada7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1705, "end_step": 1840, "id": "a83ba1b9-5add-4200-983f-a06c0d8b7577"}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}, {"label": "home", "start_step": 1882, "end_step": 1909, "id": "EabqkK9pzAkoWDr48N-5i"}], "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}], "episode_index": 33}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d3630aef4119ffc79787b538d4b05995fe6b92e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,34 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 2414}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 2231}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 3203}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 3338}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2225}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 2812}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 1899}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 2313}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 2268}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 2190}
+{"episode_index": 10, "tasks": ["Task: TicTacToe"], "length": 2153}
+{"episode_index": 11, "tasks": ["Task: TicTacToe"], "length": 1913}
+{"episode_index": 12, "tasks": ["Task: TicTacToe"], "length": 2861}
+{"episode_index": 13, "tasks": ["Task: TicTacToe"], "length": 2182}
+{"episode_index": 14, "tasks": ["Task: TicTacToe"], "length": 2086}
+{"episode_index": 15, "tasks": ["Task: TicTacToe"], "length": 2212}
+{"episode_index": 16, "tasks": ["Task: TicTacToe"], "length": 2118}
+{"episode_index": 17, "tasks": ["Task: TicTacToe"], "length": 2433}
+{"episode_index": 18, "tasks": ["Task: TicTacToe"], "length": 2023}
+{"episode_index": 19, "tasks": ["Task: TicTacToe"], "length": 1920}
+{"episode_index": 20, "tasks": ["Task: TicTacToe"], "length": 2329}
+{"episode_index": 21, "tasks": ["Task: TicTacToe"], "length": 2298}
+{"episode_index": 22, "tasks": ["Task: TicTacToe"], "length": 2401}
+{"episode_index": 23, "tasks": ["Task: TicTacToe"], "length": 2396}
+{"episode_index": 24, "tasks": ["Task: TicTacToe"], "length": 2161}
+{"episode_index": 25, "tasks": ["Task: TicTacToe"], "length": 1994}
+{"episode_index": 26, "tasks": ["Task: TicTacToe"], "length": 2324}
+{"episode_index": 27, "tasks": ["Task: TicTacToe"], "length": 2133}
+{"episode_index": 28, "tasks": ["Task: TicTacToe"], "length": 3103}
+{"episode_index": 29, "tasks": ["Task: TicTacToe"], "length": 2418}
+{"episode_index": 30, "tasks": ["Task: TicTacToe"], "length": 2220}
+{"episode_index": 31, "tasks": ["Task: TicTacToe"], "length": 1957}
+{"episode_index": 32, "tasks": ["Task: TicTacToe"], "length": 2365}
+{"episode_index": 33, "tasks": ["Task: TicTacToe"], "length": 1910}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2075e2e24324c185080bc1e4c8e563aa5d160aa5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,34 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.0499520301818848, -0.7799491882324219, -0.2240602970123291, 1.1152616739273071, 3.379551344551146e-05, -0.7699993252754211, 0.3495153486728668, 0.00651629688218236, -0.00023379604681394994, -0.26226162910461426, 0.000163834381964989, 0.003525418695062399, 0.003677259897813201, -0.028705444186925888, 0.003471525153145194, 0.0008540325216017663, 0.0003549695829860866, -0.03454563394188881, 0.0031293719075620174, 0.0008300876361317933, -0.0032982449047267437, -0.02693672478199005, 0.0027797729708254337, 0.0008416165946982801, 0.005649298895150423, -0.002917032688856125, -0.0038943628314882517, 0.005911626853048801, 0.001634900108911097, 1.0027546882629395, -1.0280380249023438, -0.24247059226036072, 0.9599635004997253, -1.7967450618743896, -0.7688518166542053, -0.16807778179645538, 0.0056022522039711475, -0.054105762392282486, -0.19103290140628815, -0.1970299929380417, 0.003273324342444539, 0.005320864729583263, -0.011594776064157486, 0.003564066020771861, 0.0007977177738212049, 0.005318657029420137, -0.07164792716503143, 0.0030410855542868376, 0.0008952707867138088, -0.0013421167386695743, -0.12442409992218018, 0.0035782484337687492, 0.0010717530967667699, 0.006439216434955597, -0.0019318510312587023, -0.14661674201488495, 0.003293889109045267, 0.0008562495931982994, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0010546117555350065, -9.58738019107841e-05, -0.0001917476038215682, -0.7451311945915222], "max": [1.2315939664840698, -0.5518471002578735, -8.101336425170302e-05, 1.5699678659439087, 0.22890324890613556, 0.007597639225423336, 0.6401135325431824, 1.3006614446640015, 0.2878790497779846, 0.0004229388141538948, 0.24987348914146423, 0.5110495090484619, 0.49943098425865173, 0.11791589856147766, 0.03774144500494003, 0.040922611951828, 0.20614290237426758, 0.1678456962108612, 0.0490257628262043, 0.027105554938316345, 0.002499751513823867, 0.16462545096874237, 0.002835439285263419, 0.001732009812258184, 0.24877358973026276, 0.0028085934463888407, 0.197733536362648, 0.005954883061349392, 0.0017461993265897036, 1.4281814098358154, -0.30766886472702026, -0.0004605537687893957, 1.7002038955688477, 0.050856854766607285, -0.030874719843268394, 0.6981501579284668, 1.4160369634628296, 0.27871090173721313, 0.03117624670267105, 0.2017211616039276, 0.5225908756256104, 1.081085443496704, 0.16518279910087585, 0.638088047504425, 0.489231139421463, 1.320326805114746, 0.2267453670501709, 1.3591054677963257, 0.6671004891395569, 1.4221030473709106, 0.23809505999088287, 1.5510724782943726, 0.9631588459014893, 0.24979150295257568, 1.323792815208435, 0.25891023874282837, 1.4583522081375122, 1.308607816696167, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.15234346687793732, -0.5998823642730713], "mean": [1.1423892974853516, -0.5943624973297119, -0.22118867933750153, 1.1640970706939697, 0.15025174617767334, -0.10169804096221924, 0.42692700028419495, 1.259602427482605, 0.2744781970977783, -0.22665587067604065, 0.22264227271080017, 0.5014433860778809, 0.48333147168159485, 0.11095159500837326, 0.037103552371263504, 0.039554670453071594, 0.19909150898456573, 0.15691201388835907, 0.045925166457891464, 0.025950413197278976, 0.00108519964851439, 0.15056511759757996, 0.0028077734168618917, 0.0016322553856298327, 0.23893825709819794, -0.00014841140364296734, 0.17515824735164642, 0.0059331199154257774, 0.0016853546258062124, 1.2428979873657227, -0.5801195502281189, -0.2250867635011673, 1.238757848739624, -1.3658579587936401, -0.2901589870452881, 0.13163262605667114, 1.2474507093429565, 0.1207452118396759, -0.04178117960691452, -0.09827800840139389, 0.20561981201171875, 0.8423637747764587, 0.10194992274045944, 0.17112325131893158, 0.23878490924835205, 1.1672786474227905, -0.01737336628139019, 1.209842324256897, 0.3101781904697418, 1.2965710163116455, -0.07575436681509018, 1.3846615552902222, 0.6919801235198975, 0.06558492034673691, 1.216009497642517, -0.09493549168109894, 0.9444544911384583, 1.2440427541732788, 0.5626959204673767, -1.1068576574325562, 0.5440480709075928, -0.0006369492039084435, -3.971574713546033e-08, 0.11652921140193939, -0.7122421860694885], "std": [0.05006134882569313, 0.02961639314889908, 0.021115180104970932, 0.05800194665789604, 0.021996069699525833, 0.11666899174451828, 0.04496689513325691, 0.1252226084470749, 0.0327225998044014, 0.027145367115736008, 0.027562692761421204, 0.0540463887155056, 0.05839784815907478, 0.018393442034721375, 0.003988069947808981, 0.004608938004821539, 0.029427187517285347, 0.02703145518898964, 0.006660923361778259, 0.003362415824085474, 0.0010250192135572433, 0.027493055909872055, 7.666363671887666e-06, 0.00015361703117378056, 0.03855491802096367, 0.0020304196514189243, 0.03072228655219078, 6.726527317368891e-06, 1.408187654305948e-05, 0.11232434958219528, 0.16312019526958466, 0.023552967235445976, 0.18731197714805603, 0.3066306412220001, 0.12327894568443298, 0.13390235602855682, 0.16793878376483917, 0.04935194179415703, 0.03272680193185806, 0.06687787175178528, 0.12489865720272064, 0.17981022596359253, 0.022822966799139977, 0.13691994547843933, 0.12171080708503723, 0.21174967288970947, 0.03240327537059784, 0.25442492961883545, 0.07595816999673843, 0.24464336037635803, 0.04676168039441109, 0.2863040864467621, 0.1672530323266983, 0.02266092412173748, 0.23196914792060852, 0.0511741004884243, 0.24450397491455078, 0.2545757591724396, 3.2175001251744106e-05, 3.285371349193156e-05, 6.52047892799601e-05, 0.00017037850921042264, 5.8537307268125005e-06, 0.024837948381900787, 0.028344741091132164], "count": [2414]}, "observation.state.joint_torque": {"min": [-34.45800018310547, -4.51800012588501, -17.014999389648438, -8.442000389099121, -0.164000004529953, -0.8727999925613403, 1.0895999670028687, -1.114336609840393, -0.4954022169113159, -0.33801156282424927, -0.36535075306892395, -0.12285894900560379, -0.46534016728401184, -0.5449756979942322, -0.07803203910589218, -0.039242662489414215, -0.2868798077106476, -0.4029749631881714, -0.11123716086149216, -0.03567514568567276, -0.29455551505088806, -0.5545703172683716, -0.0016602561809122562, -0.028540121391415596, -0.10687166452407837, -0.12856821715831757, -0.5075566172599792, -0.0, -0.0007135029300116003, 15.535499572753906, -11.097000122070312, 3.236999988555908, -9.467000007629395, -2.0320000648498535, -2.38319993019104, -3.3480000495910645, -1.6963386535644531, -0.8035959005355835, -0.3442250192165375, -0.8785815238952637, -0.2573396861553192, -0.6284490823745728, -0.9441128373146057, -0.2573396861553192, -0.06635577231645584, -1.4391963481903076, -1.6416432857513428, -0.47317299246788025, -0.05636673793196678, -1.3979394435882568, -0.7474226355552673, -0.5395832657814026, -0.08419335633516312, -0.17196223139762878, -1.1715058088302612, -0.5804758667945862, -0.5644870400428772, -0.09489589184522629, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.489999771118164, 10.504500389099121, -11.107000350952148, 1.312999963760376, 1.63919997215271, 1.3344000577926636, 2.4567999839782715, 1.0735836029052734, 0.29163774847984314, 0.4498536288738251, 0.3181285262107849, 0.09297433495521545, 0.3463665843009949, 0.274406760931015, 0.08633331209421158, 0.014983562752604485, 0.24082551896572113, 0.16406838595867157, 0.14610254764556885, 0.013556556776165962, 0.2561769485473633, 0.3482855260372162, 0.0016602561809122562, -0.0, 0.15217117965221405, 0.15735214948654175, 0.2964744567871094, -0.0, 0.0007135029300116003, 41.419498443603516, 18.076499938964844, 20.649999618530273, 5.2129998207092285, 0.8447999954223633, 3.4159998893737793, 1.3952000141143799, 2.51776385307312, 5.011330604553223, 2.2815780639648438, 1.302338719367981, 0.6790447235107422, 2.141524314880371, 0.7858012318611145, 1.0592433214187622, 0.21476440131664276, 1.0458160638809204, 0.36843428015708923, 0.11289741843938828, 0.028540121391415596, 0.4375157058238983, 0.31374478340148926, 0.10791664570569992, 0.03424813970923424, 0.2665194571018219, 0.5296242237091064, 0.4077723026275635, 0.12119869887828827, 0.039242662489414215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.601594924926758, 1.4047818183898926, -12.936391830444336, -2.125659704208374, 0.27727651596069336, -0.3360919952392578, 1.6983833312988281, -0.002759660128504038, -0.00022103963419795036, 0.00022856159193906933, 0.0057985312305390835, 0.0004099064681213349, 0.0017026993446052074, 0.003768697613850236, -0.00022145971888676286, -0.00010847331577679142, 0.001866060309112072, -0.00030087714549154043, 0.0010639689862728119, -0.00010137964272871614, 0.007075941190123558, 0.010012352839112282, 2.7510459403856657e-06, -0.0012390241026878357, -7.961449591675773e-05, 0.0038136017974466085, 0.008069599978625774, 0.0, 5.911374501010869e-07, 27.662830352783203, 0.6325424313545227, 12.599543571472168, -1.8936359882354736, -0.27583467960357666, 1.5548678636550903, -0.9466082453727722, 0.4116884768009186, 1.4135822057724, 0.3532893657684326, 0.12190409749746323, 0.11547316610813141, 0.8373559713363647, -0.08397221565246582, 0.39620906114578247, 0.10016559064388275, -0.12763066589832306, -0.24350562691688538, 0.00011623206955846399, 0.001979717519134283, 0.008224613033235073, -0.03133124113082886, -0.000632050505373627, -0.0005609900108538568, 0.003542450023815036, -0.013263988308608532, -0.03295883163809776, -0.013645888306200504, 0.000955575960688293, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7552264332771301, 0.8861556053161621, 0.6093950271606445, 0.6941928267478943, 0.19068771600723267, 0.3484515845775604, 0.17832256853580475, 0.04820055514574051, 0.029781075194478035, 0.05616487190127373, 0.0457439161837101, 0.008646469563245773, 0.048069119453430176, 0.04528123140335083, 0.0067083025351166725, 0.0035359463654458523, 0.03442610800266266, 0.033104319125413895, 0.01276564784348011, 0.0032019696664065123, 0.026819583028554916, 0.05477648600935936, 8.272554259747267e-05, 0.004115527030080557, 0.008697710931301117, 0.01929597742855549, 0.055646300315856934, 0.0, 2.9038132197456434e-05, 3.8301448822021484, 1.9891859292984009, 1.555670142173767, 1.7556707859039307, 0.3405225872993469, 0.6578051447868347, 0.4893130958080292, 0.7664296627044678, 1.628226399421692, 0.45950081944465637, 0.30579444766044617, 0.1584194451570511, 0.9149577617645264, 0.24843567609786987, 0.43074747920036316, 0.10205855965614319, 0.36296048760414124, 0.35722780227661133, 0.02865154668688774, 0.008656701073050499, 0.08733990788459778, 0.10811897367238998, 0.026289140805602074, 0.010521101765334606, 0.027805309742689133, 0.1461101770401001, 0.12071701884269714, 0.04279112443327904, 0.00582504877820611, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2414]}, "observation.state.tcp": {"min": [0.36172518134117126, 0.16945888102054596, 0.9557792544364929, -1.3470197916030884, 1.2180076837539673, -1.6074191331863403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25923067331314087, -0.2817888557910919, 0.9456965923309326, -0.9027546644210815, 1.2184261083602905, 0.459372341632843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4240678548812866, 0.20959340035915375, 1.0517544746398926, -1.0498255491256714, 1.6916626691818237, -1.2288553714752197, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4777321219444275, -0.03998469188809395, 1.1371939182281494, 1.2085317373275757, 1.9544081687927246, 1.6325082778930664, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4062149226665497, 0.18323154747486115, 0.9896955490112305, -1.282653570175171, 1.5922167301177979, -1.5475449562072754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000109136104584, -0.1389998197555542, 1.0444759130477905, -0.35501712560653687, 1.7122719287872314, 0.7859466671943665, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011225252412259579, 0.006348656956106424, 0.026778414845466614, 0.049509819597005844, 0.0887351930141449, 0.05761389061808586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05532340705394745, 0.058699727058410645, 0.05119076371192932, 0.3134617209434509, 0.12998659908771515, 0.16171133518218994, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2414]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22405704855918884, 1.1152549982070923, 0.0, -0.7699999809265137, 0.3494884967803955, 0.0, 0.0, -0.2701226472854614, 0.0, 0.0, 0.0, -0.026825230568647385, 0.0, 0.0, 0.0, -0.04080091789364815, 0.0, 0.0, 0.0, -0.03560541197657585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0027567148208618, -1.0281872749328613, -0.2424648404121399, 0.959881603717804, -1.796739101409912, -0.7682367563247681, -0.16814111173152924, 0.0, -0.05762453377246857, -0.19726552069187164, -0.1979718953371048, 0.0, 0.0, -0.03229052200913429, 0.0, 0.0, 0.0, -0.07562071084976196, 0.0, 0.0, 0.0, -0.12601862847805023, 0.0, 0.0, 0.0, 0.0, -0.1468433439731598, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439882874488831, -0.001002978184260428, -1.2120173778384924e-05, -3.676893923414563e-18, -0.745423436164856], "max": [1.2315901517868042, -0.551853597164154, 0.0, 1.5700000524520874, 0.2288583666086197, 0.007610911037772894, 0.6401863694190979, 1.3007147312164307, 0.2889126241207123, 0.0, 0.2498670071363449, 0.5197048187255859, 0.5050869584083557, 0.11885703355073929, 0.043835993856191635, 0.045527976006269455, 0.2137027084827423, 0.16783078014850616, 0.054525285959243774, 0.03191087767481804, 0.0, 0.1716366559267044, 0.0, 0.0, 0.26180002093315125, 0.0, 0.20821590721607208, 0.0, 0.0, 1.4281784296035767, -0.30765050649642944, -0.0010129441507160664, 1.7002673149108887, 0.0509236715734005, -0.0308517012745142, 0.7243635654449463, 1.4236249923706055, 0.28899064660072327, 0.035876642912626266, 0.2196730673313141, 0.5265305638313293, 1.11251962184906, 0.21714621782302856, 0.6645776033401489, 0.531894326210022, 1.3336330652236938, 0.27772265672683716, 1.3656747341156006, 0.6719080805778503, 1.4264179468154907, 0.29888761043548584, 1.5549263954162598, 0.9638310670852661, 0.26180002093315125, 1.3296934366226196, 0.29722657799720764, 1.461312174797058, 1.3945891857147217, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.748079755687078e-21, 1.2990734830964357e-05, 0.153461292386055, -0.6000000238418579], "mean": [1.1424442529678345, -0.5943798422813416, -0.22119446098804474, 1.164132833480835, 0.15027357637882233, -0.10182511806488037, 0.42696401476860046, 1.2649040222167969, 0.2776414155960083, -0.22738096117973328, 0.2250915914773941, 0.5071386098861694, 0.4838431775569916, 0.11104795336723328, 0.042382340878248215, 0.044111110270023346, 0.20081248879432678, 0.15915484726428986, 0.050569213926792145, 0.03047209605574608, 0.0, 0.15726646780967712, 0.0, 0.0, 0.25178298354148865, 0.0, 0.18340396881103516, 0.0, 0.0, 1.2437697649002075, -0.581017017364502, -0.22509805858135223, 1.2394676208496094, -1.3652548789978027, -0.2900809347629547, 0.13173775374889374, 1.2505998611450195, 0.1263791024684906, -0.04178387671709061, -0.09817054867744446, 0.2054404318332672, 0.8587405681610107, 0.09304210543632507, 0.17257900536060333, 0.2841815948486328, 1.1667304039001465, -0.018598342314362526, 1.2109876871109009, 0.3109634816646576, 1.2965365648269653, -0.0762542262673378, 1.3856372833251953, 0.6927351951599121, 0.06544359028339386, 1.2145625352859497, -0.09567009657621384, 0.9444378018379211, 1.2901667356491089, 0.5626981854438782, -1.1068623065948486, 0.5440970659255981, -0.0006819890113547444, 7.957138450365164e-07, 0.11657128483057022, -0.7122878432273865], "std": [0.05007082223892212, 0.029628537595272064, 0.02111714705824852, 0.05810064077377319, 0.021981168538331985, 0.11703255027532578, 0.04500190541148186, 0.137482151389122, 0.034384530037641525, 0.030531777068972588, 0.02925722673535347, 0.059866953641176224, 0.06016926094889641, 0.017197217792272568, 0.005143161863088608, 0.005354208406060934, 0.029744230210781097, 0.026187259703874588, 0.006987216882407665, 0.004020364489406347, 0.0, 0.026962174102663994, 0.0, 0.0, 0.04102481156587601, 0.0, 0.03167164325714111, 0.0, 0.0, 0.11244451999664307, 0.1636776626110077, 0.023482026532292366, 0.18777017295360565, 0.309505820274353, 0.12351185083389282, 0.13452526926994324, 0.1736183613538742, 0.055165261030197144, 0.03338740020990372, 0.0668657124042511, 0.12517975270748138, 0.19333551824092865, 0.030381981283426285, 0.1380321979522705, 0.1509307622909546, 0.2132798433303833, 0.03302834555506706, 0.2537839412689209, 0.0761648640036583, 0.24596823751926422, 0.04751390591263771, 0.2858506441116333, 0.16619986295700073, 0.027100279927253723, 0.23389455676078796, 0.052547868341207504, 0.24262608587741852, 0.2719239294528961, 1.4760720659978688e-05, 3.6560834359988803e-06, 3.0549243092536926e-05, 0.00016609490558039397, 5.946251349087106e-06, 0.024882305413484573, 0.02838689461350441], "count": [2414]}, "observation.state.tcp_pose": {"min": [0.36172518134117126, 0.16945888102054596, 0.9557792544364929, -1.3470197916030884, 1.2180076837539673, -1.6074191331863403, 0.25923067331314087, -0.2817888557910919, 0.9456965923309326, -0.9027546644210815, 1.2184261083602905, 0.459372341632843], "max": [0.4240678548812866, 0.20959340035915375, 1.0517544746398926, -1.0498255491256714, 1.6916626691818237, -1.2288553714752197, 0.4777321219444275, -0.03998469188809395, 1.1371939182281494, 1.2085317373275757, 1.9544081687927246, 1.6325082778930664], "mean": [0.4062149226665497, 0.18323154747486115, 0.9896955490112305, -1.282653570175171, 1.5922167301177979, -1.5475449562072754, 0.4000109136104584, -0.1389998197555542, 1.0444759130477905, -0.35501712560653687, 1.7122719287872314, 0.7859466671943665], "std": [0.011225252412259579, 0.006348656956106424, 0.026778414845466614, 0.049509819597005844, 0.0887351930141449, 0.05761389061808586, 0.05532340705394745, 0.058699727058410645, 0.05119076371192932, 0.3134617209434509, 0.12998659908771515, 0.16171133518218994], "count": [2414]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.16945111751556396, 0.9557485580444336, -1.3473070859909058, 1.2178406715393066, -1.607521891593933, 0.2591530382633209, -0.2824017107486725, 0.9456599950790405, -0.9027200937271118, 1.2186877727508545, 0.459225058555603], "max": [0.42407986521720886, 0.2098626047372818, 1.0518072843551636, -1.0498297214508057, 1.6916134357452393, -1.2289543151855469, 0.47775599360466003, -0.03996824845671654, 1.1371829509735107, 1.2081496715545654, 1.9545297622680664, 1.640136957168579], "mean": [0.4062320590019226, 0.18324066698551178, 0.9896942973136902, -1.2826918363571167, 1.5921030044555664, -1.5474992990493774, 0.40007954835891724, -0.13928399980068207, 1.0449247360229492, -0.35443025827407837, 1.7108863592147827, 0.7860864996910095], "std": [0.011219238862395287, 0.006369319278746843, 0.02681186981499195, 0.04950112849473953, 0.08895130455493927, 0.057696204632520676, 0.05533173307776451, 0.058972761034965515, 0.05136304348707199, 0.3160475492477417, 0.13149838149547577, 0.1633838415145874], "count": [2414]}, "subtask_index": {"min": [0], "max": [50], "mean": [23.926677713338858], "std": [14.641504799090777], "count": [2414]}, "observation.tactile": {"min": [-0.007322017569094896, -4.240442649461329e-05, -9.362093987874687e-05, -0.001373789506033063, -4.060486753587611e-05, -0.000188306366908364, -0.0029594306834042072, -4.50168336101342e-05, -9.768910967977718e-05, -0.0005207167705520988, -2.6414090825710446e-05, -5.433888145489618e-05, -0.008514919318258762, -4.3168030970264226e-05, -9.587794193066657e-05, -0.0010642351116985083, -3.4708977182162926e-05, -0.00018817040836438537, -0.010014637373387814, -3.36770317517221e-05, -7.375855057034642e-05, -0.001967236865311861, -1.4414677934837528e-05, -0.0002344596287002787, -0.011740563437342644, -4.729294960270636e-05, -0.00010691180068533868, -0.0011563514126464725, -4.8234120185952634e-05, -0.0002421003591734916, -2.8682668209075928, -4.255142266629264e-05, -9.933412366081029e-05, -0.21414154767990112, -0.007773810066282749, -0.06106779724359512, -6.631474494934082, -0.5339283347129822, -0.00010320336150471121, -0.26005691289901733, -0.029355935752391815, -0.09550359845161438, -1.3715870380401611, -4.647786408895627e-05, -0.00010228704195469618, -0.007709598634392023, -0.002974594244733453, -0.019084736704826355, -0.01123984158039093, -5.600782606052235e-05, -0.000125050064525567, -0.001476453966461122, -6.200739881023765e-05, -0.000244959257543087, -0.6590102314949036, -4.4425261876313016e-05, -9.972699626814574e-05, -0.000928620167542249, -6.070361996535212e-05, -0.008486952632665634], "max": [0.01799360103905201, 0.025782890617847443, 0.07516665756702423, 1.7605675566301215e-06, 0.0004234128282405436, 0.00023170352505985647, 0.00046199397183954716, 0.00957835279405117, 0.027692707255482674, 1.6657556898280745e-06, 3.860680226352997e-05, 5.9898716244788375e-06, 0.010639626532793045, 0.015839559957385063, 0.04588271304965019, 1.7778969549908652e-06, 0.00022245358559302986, 0.0001263653684873134, 0.0014020615490153432, 0.028062138706445694, 0.08337194472551346, 1.3698133898287779e-06, 0.00017044063133653253, 5.448609954328276e-06, 0.0007451730198226869, 0.01767001301050186, 0.050360411405563354, 2.0087863958906382e-06, 9.967134974431247e-05, 7.874735274526756e-06, 5.548443794250488, 8.07226848602295, 11.856890678405762, 1.819525778046227e-06, 0.03248315304517746, 0.08462414145469666, 0.7924838066101074, 10.6570405960083, 15.236624717712402, 1.939783032867126e-06, 0.010907166637480259, 0.02171274833381176, 0.005270063877105713, 0.23017612099647522, 0.48767587542533875, 1.8725323798207683e-06, 0.00039240065962076187, 4.7288511268561706e-05, 0.005364735145121813, 0.02286592312157154, 0.06576879322528839, 2.2807594177720603e-06, 0.0002009107411140576, 1.5482928574783728e-05, 0.001989751821383834, 0.04346245527267456, 0.07474667578935623, 1.8529177623349824e-06, 0.0014479861129075289, 1.4278014532465022e-05], "mean": [0.00020138395484536886, 0.0015121066244319081, 0.004455148242413998, -8.016126230359077e-05, 1.8956317944684997e-05, -2.0398074411787093e-06, 0.00016979903739411384, 0.0002001524408115074, 0.0006156005547381938, -9.95931350189494e-06, -9.461514878239541e-07, 3.4581237287056865e-06, -9.08801011973992e-05, 0.0007770636584609747, 0.002318286569789052, -4.434079528436996e-05, 1.156435246230103e-06, -1.7286753291045898e-06, -0.0004545882693491876, 0.0016042859060689807, 0.004740183241665363, -0.00010172128531849012, 2.584425374152488e-06, -1.0673010365280788e-05, 5.3485026000998914e-05, 0.0005564630846492946, 0.0016443495405837893, -2.6774087018566206e-05, 2.0547774965962162e-06, 1.0451931302668527e-06, 1.4147616624832153, 2.3340649604797363, 3.990244150161743, -0.06367690861225128, 0.005611779633909464, 0.01970357820391655, -1.5655393600463867, 0.8488267660140991, 4.777326583862305, -0.07970848679542542, -0.005334168206900358, -0.024732517078518867, -0.0054527102038264275, 0.0040725721046328545, 0.011479760520160198, -0.00024673889856785536, 3.563918880900019e-06, -8.380317012779415e-05, -0.0022742138244211674, 0.00813437532633543, 0.023093249648809433, -0.0005143985035829246, -4.534369509201497e-06, -5.2531915571307763e-05, -0.0009519823943264782, 0.001218461780808866, 0.0035692048259079456, -6.752352055627853e-05, 9.791189768293407e-06, -1.4312026905827224e-05], "std": [0.0014279588358476758, 0.0032008024863898754, 0.009390582330524921, 0.00018101224850397557, 4.6840952563798055e-05, 2.449695602990687e-05, 0.0003316196671221405, 0.0008052315679378808, 0.002347002737224102, 3.896658381563611e-05, 2.213392917838064e-06, 5.864707873115549e-06, 0.0009654031600803137, 0.0019438759190961719, 0.0057117207907140255, 0.000118529555038549, 1.1973182154179085e-05, 1.9415849237702787e-05, 0.0012991774128749967, 0.0036868853494524956, 0.010897623375058174, 0.00025048464885912836, 1.0192719855695032e-05, 3.140207991236821e-05, 0.0008903571870177984, 0.0015815431252121925, 0.004568133037537336, 8.279515895992517e-05, 1.1409809303586371e-05, 1.941531809279695e-05, 1.743675947189331, 2.509598970413208, 4.054112911224365, 0.06664802879095078, 0.008431745693087578, 0.027814308181405067, 1.7893555164337158, 1.2374573945999146, 4.9649834632873535, 0.08370237052440643, 0.008116238750517368, 0.028430132195353508, 0.07412603497505188, 0.01206367090344429, 0.027370629832148552, 0.00045282524661161005, 0.00014954572543501854, 0.0010326667688786983, 0.0016146686393767595, 0.004122114274650812, 0.011587473563849926, 0.00027543731266632676, 2.9178891054471023e-05, 3.189329800079577e-05, 0.019337745383381844, 0.0024501055013388395, 0.006370570044964552, 0.0001205180014949292, 4.4872609578305855e-05, 0.0002458647359162569], "count": [2414]}, "timestamp": {"min": [0.0], "max": [80.43333333333334], "mean": [40.21666666666666], "std": [23.228723837333618], "count": [2414]}, "frame_index": {"min": [0], "max": [2413], "mean": [1206.5], "std": [696.8617151200086], "count": [2414]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2414]}, "index": {"min": [0], "max": [2413], "mean": [1206.5], "std": [696.8617151200086], "count": [2414]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2414]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5598480105400085]], [[0.5597164034843445]], [[0.5603153705596924]]], "std": [[[0.29658281803131104]], [[0.2966383695602417]], [[0.29701218008995056]]], "count": [2414]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30347174406051636]], [[0.3059896230697632]], [[0.3032802641391754]]], "std": [[[0.18303565680980682]], [[0.1830379068851471]], [[0.18271289765834808]]], "count": [2414]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30783846974372864]], [[0.3107302784919739]], [[0.3084222078323364]]], "std": [[[0.18485265970230103]], [[0.18255524337291718]], [[0.18270620703697205]]], "count": [2414]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5617037415504456]], [[0.5618373155593872]], [[0.5621291399002075]]], "std": [[[0.30292221903800964]], [[0.30260366201400757]], [[0.3032784163951874]]], "count": [2414]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6274510025978088]], [[0.6274510025978088]], [[0.6274510025978088]]], "mean": [[[0.0034617045894265175]], [[0.0034617045894265175]], [[0.0034617045894265175]]], "std": [[[0.03637600317597389]], [[0.03637600317597389]], [[0.03637600317597389]]], "count": [2414]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4907914102077484]], [[0.4907914102077484]], [[0.4907914102077484]]], "std": [[[0.22146634757518768]], [[0.22146634757518768]], [[0.22146634757518768]]], "count": [2414]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [1.049996256828308, -0.7800025939941406, -0.22415630519390106, 1.0618282556533813, -0.0017224926268681884, -0.7699995040893555, 0.30068299174308777, 0.006892647594213486, -0.0002740873023867607, -0.2759799659252167, 0.00017785013187676668, 0.0035222277510911226, 0.003618875052779913, -0.08607486635446548, 0.0034959898330271244, 0.0008425034466199577, 0.00023697360302321613, -0.09718121588230133, 0.006828526500612497, 0.0008181151933968067, -0.0031623446848243475, -0.02695389837026596, 0.002732261549681425, 0.0008473811321891844, 0.005722083151340485, -0.00269354903139174, -0.025962581858038902, 0.0022486376110464334, 0.000837182451505214, 1.0066062211990356, -1.0542203187942505, -0.24256299436092377, 0.9950278997421265, -1.7140363454818726, -0.768754780292511, -0.23547253012657166, 0.005592857021838427, -0.13430972397327423, -0.20652785897254944, -0.16355855762958527, 0.0032683606259524822, 0.00514104962348938, -0.008922808803617954, 0.0035722211468964815, 0.0008668916998431087, -0.003459911560639739, -0.08277367800474167, 0.003092497354373336, 0.000868221977725625, -0.001936268643476069, -0.1320227086544037, 0.00383140635676682, 0.0008309744880534708, 0.008180673234164715, -0.001936996472068131, -0.15707463026046753, 0.00573292700573802, 0.0008691088296473026, 0.5624915957450867, -1.1069588661193848, 0.543796181678772, -0.000862864195369184, -9.58738019107841e-05, -0.0001917476038215682, -0.7149308919906616], "max": [1.2108694314956665, -0.581568717956543, -7.190535029621969e-07, 1.5699985027313232, 0.20993773639202118, 0.13561120629310608, 0.6085196733474731, 1.4430938959121704, 0.28910911083221436, -0.0035465869586914778, 0.24504274129867554, 0.73246169090271, 0.46534115076065063, 0.11123574525117874, 0.03782760351896286, 0.03613142669200897, 0.2867102324962616, 0.173558309674263, 0.05220016464591026, 0.035950955003499985, 0.10232963413000107, 0.21118289232254028, 0.015060413628816605, 0.01780298538506031, 0.24073848128318787, 0.09542084485292435, 0.20719383656978607, 0.014935252256691456, 0.017648231238126755, 1.4603455066680908, -0.3525661826133728, -0.000456598965683952, 1.7215157747268677, 0.12029729038476944, -0.0027784225530922413, 0.698101818561554, 1.3863115310668945, 0.2793331742286682, 0.2989864945411682, 0.2808067500591278, 0.46805381774902344, 1.0477310419082642, 0.18532994389533997, 0.6523949503898621, 0.41437649726867676, 1.323965311050415, 0.2395205944776535, 1.2750641107559204, 0.4242798984050751, 1.4294975996017456, 0.27501216530799866, 1.5037461519241333, 0.9627832770347595, 0.24191051721572876, 1.386415719985962, 0.281475692987442, 1.473442792892456, 1.3081773519515991, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.08206797391176224, -0.5998823642730713], "mean": [1.1403733491897583, -0.6173937916755676, -0.22089770436286926, 1.1312390565872192, 0.13160385191440582, 0.011071042157709599, 0.3905218243598938, 1.3993167877197266, 0.26793867349624634, -0.2307875156402588, 0.20967969298362732, 0.7141030430793762, 0.41302886605262756, 0.09122514724731445, 0.03295955806970596, 0.034586817026138306, 0.219940647482872, 0.14532694220542908, 0.04464481770992279, 0.02980724163353443, 0.0747847706079483, 0.17446072399616241, 0.011545659974217415, 0.011975758709013462, 0.04378504678606987, 0.07949591428041458, 0.18845772743225098, 0.013506273739039898, 0.014702108688652515, 1.282193899154663, -0.6016372442245483, -0.23122669756412506, 1.25938081741333, -1.3472801446914673, -0.2380354106426239, 0.09970622509717941, 1.2483434677124023, 0.08810629695653915, -0.009712409228086472, -0.0722256526350975, 0.16667942702770233, 0.8515615463256836, 0.09354556351900101, 0.18686647713184357, 0.1950196623802185, 1.2296210527420044, -0.03497401252388954, 1.096118688583374, 0.21050743758678436, 1.3155120611190796, -0.09243661910295486, 1.2747552394866943, 0.625633716583252, 0.05138542130589485, 1.2372968196868896, -0.11160147935152054, 0.9167397022247314, 1.2449140548706055, 0.5626904964447021, -1.1068507432937622, 0.5440803170204163, -0.00047132762847468257, 3.437876898715331e-07, 0.05737024545669556, -0.6778580546379089], "std": [0.04010500758886337, 0.031108641996979713, 0.023148076608777046, 0.06565985828638077, 0.03282829374074936, 0.1343906968832016, 0.06569276750087738, 0.1496134102344513, 0.03571876883506775, 0.03538433462381363, 0.02757382020354271, 0.0823952853679657, 0.05708428472280502, 0.020117703825235367, 0.00407536281272769, 0.004586455412209034, 0.037833455950021744, 0.03165245056152344, 0.006215842440724373, 0.0045157261192798615, 0.022874007001519203, 0.040457408875226974, 0.0032625352032482624, 0.003730997908860445, 0.028589652851223946, 0.02168641984462738, 0.033352404832839966, 0.0025405799970030785, 0.00359900901094079, 0.10858070850372314, 0.16081395745277405, 0.023054828867316246, 0.18074500560760498, 0.33065298199653625, 0.1349107027053833, 0.1490715593099594, 0.1687287837266922, 0.05508270114660263, 0.06642843782901764, 0.0689898133277893, 0.11683905869722366, 0.18133486807346344, 0.024488478899002075, 0.13142061233520508, 0.0978749468922615, 0.23122580349445343, 0.04052720591425896, 0.240900456905365, 0.046172671020030975, 0.2612856924533844, 0.05987450107932091, 0.2839924991130829, 0.1791645884513855, 0.02528064325451851, 0.24760496616363525, 0.06502339243888855, 0.25398722290992737, 0.2712748348712921, 4.2833340557990596e-05, 4.3109703256050125e-05, 5.634963599732146e-05, 0.00013994450273457915, 7.023154921625974e-06, 0.016286758705973625, 0.023249618709087372], "count": [2231]}, "observation.state.joint_torque": {"min": [-34.73099899291992, -5.085000038146973, -16.466999053955078, -6.331999778747559, -0.2856000065803528, -1.0399999618530273, 0.5680000185966492, -0.7590224146842957, -0.24451729655265808, -0.3790203034877777, -0.2957601249217987, -0.17432688176631927, -0.806909441947937, -0.6783412098884583, -0.08467306196689606, -0.038529157638549805, -0.8740718960762024, -0.3789883553981781, -0.11787818372249603, -0.03567514568567276, -0.35212334990501404, -0.6169354915618896, -0.07471152395009995, -0.033534638583660126, -0.10115424543619156, -0.3597991168498993, -0.6860169768333435, -0.08301279693841934, -0.028540121391415596, -0.9419999718666077, -5.709000110626221, -9.413999557495117, -8.142999649047852, -3.2344000339508057, -7.092800140380859, -3.112799882888794, -1.679782748222351, -1.9777882099151611, -0.5529968738555908, -1.2563591003417969, -0.14278201758861542, -0.8404906988143921, -0.977694034576416, -0.17266662418842316, -0.05922074615955353, -0.8961396217346191, -0.970977783203125, -0.11621791869401932, -0.033534638583660126, -0.8606394529342651, -0.38282620906829834, -0.15772433578968048, -0.04709119349718094, -0.12710250914096832, -0.9537074565887451, -0.4192858636379242, -0.11953844130039215, -0.10131742060184479, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.723499298095703, 9.878999710083008, -10.208999633789062, 2.0179998874664307, 1.555999994277954, 1.0, 2.4200000762939453, 0.45337578654289246, 0.2827230989933014, 0.3342835009098053, 0.39890336990356445, 0.10293588042259216, 0.609259843826294, 0.28496086597442627, 0.0979551151394844, 0.02354559674859047, 0.35883960127830505, 0.24466338753700256, 0.1328205019235611, 0.021405089646577835, 0.28112301230430603, 0.3789883553981781, 0.10127562284469604, 0.016410568729043007, 0.07300698012113571, 0.1918928623199463, 0.40585339069366455, 0.06308973580598831, 0.014270060695707798, 39.42300033569336, 14.647500038146973, 20.97100067138672, 2.4800000190734863, 0.6823999881744385, 2.9407999515533447, 3.476799964904785, 2.8195900917053223, 4.682760715484619, 2.415788412094116, 1.3358912467956543, 0.6873460412025452, 2.152078151702881, 0.4164074957370758, 1.0592433214187622, 0.21476440131664276, 0.3530828356742859, 0.25042015314102173, 0.1062563955783844, 0.01712406985461712, 0.3003123104572296, 0.3079880475997925, 0.12617947161197662, 0.19264578819274902, 0.10423287004232407, 0.4682185649871826, 0.3924208879470825, 0.19923073053359985, 0.11558748036623001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.624204635620117, 1.808091640472412, -12.78173542022705, -1.8113232851028442, 0.057896386831998825, -0.39921218156814575, 1.6661748886108398, -0.002817055443301797, -0.00035219453275203705, 0.016992179676890373, 0.005299384705722332, 0.002542854053899646, 0.01069694384932518, 0.009997573681175709, 0.0002597166458144784, 8.794845052761957e-05, 0.006727404426783323, 0.0031046036165207624, 0.0009644523379392922, -9.242535452358425e-05, 0.02755962312221527, 0.03046337142586708, 0.001178030506707728, -5.021058314014226e-05, -0.003526681335642934, 0.006517986301332712, 0.004224883392453194, 0.0003326455771457404, 8.954777149483562e-05, 27.42118263244629, 0.8610101938247681, 12.427082061767578, -1.4815846681594849, -0.3976314663887024, 1.321471929550171, -0.8287947177886963, 0.44343066215515137, 1.3895480632781982, 0.36012545228004456, 0.10433533787727356, 0.1346801519393921, 0.8482452034950256, -0.14483709633350372, 0.41785475611686707, 0.10806992650032043, -0.06842127442359924, -0.1168849766254425, 0.0026209887582808733, 0.0006223520613275468, 0.0018350788159295917, -0.018070703372359276, -0.0018626691307872534, -0.0008180818986147642, -0.00275590643286705, -0.00026922396500594914, -0.013183928094804287, -0.015354588627815247, 0.003200373612344265, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6721435785293579, 0.8764670491218567, 0.5725295543670654, 0.6586256623268127, 0.23645897209644318, 0.35312309861183167, 0.1741458922624588, 0.04458225890994072, 0.023815074935555458, 0.06261730194091797, 0.05033479630947113, 0.01229196134954691, 0.05825308710336685, 0.054045215249061584, 0.007639944553375244, 0.0039480989798903465, 0.04483460262417793, 0.038975030183792114, 0.014190956950187683, 0.003720739623531699, 0.04842086136341095, 0.06918609142303467, 0.009158654138445854, 0.004096400458365679, 0.013035654090344906, 0.02298523671925068, 0.04539833217859268, 0.005984169896692038, 0.004165817052125931, 4.753320217132568, 1.957047939300537, 2.765033483505249, 1.7466121912002563, 0.44615253806114197, 1.044596791267395, 0.6578925251960754, 0.773574948310852, 1.57669997215271, 0.4821010231971741, 0.3329981863498688, 0.1647932529449463, 0.8785525560379028, 0.2768268585205078, 0.4196121394634247, 0.10002142935991287, 0.1688135266304016, 0.18923895061016083, 0.024724364280700684, 0.008083472959697247, 0.06482397019863129, 0.06494993716478348, 0.02447376400232315, 0.011012357659637928, 0.0198665838688612, 0.12134739011526108, 0.10327661782503128, 0.034229595214128494, 0.006069773342460394, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2231]}, "observation.state.tcp": {"min": [0.3616955876350403, 0.18771705031394958, 0.954439640045166, -1.3304729461669922, 1.2177962064743042, -1.6277989149093628, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25783103704452515, -0.29778897762298584, 0.9612977504730225, -0.7891590595245361, 1.2179901599884033, 0.44719430804252625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42187851667404175, 0.23094488680362701, 1.0518471002578735, -1.0669097900390625, 1.8212734460830688, -1.2289535999298096, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46581584215164185, -0.0491691529750824, 1.1424566507339478, 1.2082754373550415, 1.9905016422271729, 1.572176456451416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4081055819988251, 0.20038077235221863, 0.9866423010826111, -1.2734938859939575, 1.6571983098983765, -1.5838441848754883, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40625235438346863, -0.14711396396160126, 1.0583760738372803, -0.34222203493118286, 1.742335557937622, 0.7382370829582214, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.009322541765868664, 0.007451229263097048, 0.02395573817193508, 0.040538717061281204, 0.12927669286727905, 0.05572258308529854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05367045849561691, 0.05923409014940262, 0.04666416347026825, 0.353824645280838, 0.13365955650806427, 0.17264017462730408, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2231]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22415295243263245, 1.0618321895599365, -0.0017586257308721542, -0.7699999809265137, 0.3006881773471832, 0.0, 0.0, -0.2811451852321625, 0.0, 0.0, 0.0, -0.09139764308929443, 0.0, 0.0, 0.0, -0.1066751703619957, 0.0, 0.0, 0.0, -0.10410299897193909, 0.0, 0.0, 0.0, 0.0, -0.09302525967359543, 0.0, 0.0, 1.0066102743148804, -1.054280161857605, -0.24256041646003723, 0.994994580745697, -1.714030385017395, -0.7677438855171204, -0.2354920208454132, 0.0, -0.14142204821109772, -0.21076568961143494, -0.1667843610048294, 0.0, 0.0, -0.008087300695478916, 0.0, 0.0, 0.0, -0.0843578651547432, 0.0, 0.0, 0.0, -0.136747807264328, 0.0, 0.0, 0.0, 0.0, -0.15811903774738312, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440841317176819, -0.0008192463428713381, -1.25590759125771e-05, 2.3562181845930115e-18, -0.7149149775505066], "max": [1.2110376358032227, -0.5815587043762207, 0.0, 1.5700000524520874, 0.21014733612537384, 0.13564498722553253, 0.6085576415061951, 1.4497911930084229, 0.2869131565093994, 0.0, 0.24651959538459778, 0.7379821538925171, 0.4690925180912018, 0.1116221621632576, 0.04209374636411667, 0.040963463485240936, 0.2920377850532532, 0.17193439602851868, 0.05661255866289139, 0.03772537037730217, 0.10309801250696182, 0.2200477570295334, 0.021549861878156662, 0.019310085102915764, 0.26179978251457214, 0.09576956182718277, 0.21954858303070068, 0.020716164261102676, 0.019864557310938835, 1.4603393077850342, -0.3525717258453369, -0.0011764820665121078, 1.7223845720291138, 0.12358823418617249, -0.0026942300610244274, 0.717886745929718, 1.3834296464920044, 0.290914386510849, 0.30331096053123474, 0.2894649803638458, 0.47066211700439453, 1.1885266304016113, 0.21730507910251617, 0.666528582572937, 0.4773518741130829, 1.4821844100952148, 0.2758849859237671, 1.2807583808898926, 0.457919180393219, 1.4618116617202759, 0.2988104522228241, 1.5090322494506836, 0.9651628732681274, 0.26179999113082886, 1.390703558921814, 0.30184468626976013, 1.4767478704452515, 1.4167861938476562, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 9.043826554364375e-21, 1.094107938115485e-05, 0.08227267861366272, -0.6000000238418579], "mean": [1.1404231786727905, -0.6174155473709106, -0.2209145724773407, 1.1312816143035889, 0.13160620629787445, 0.01100193988531828, 0.3906165361404419, 1.4063069820404053, 0.2695430815219879, -0.23009799420833588, 0.20988738536834717, 0.7197498083114624, 0.4165498912334442, 0.09349381178617477, 0.03874319791793823, 0.03781146556138992, 0.22384651005268097, 0.14697040617465973, 0.04445984587073326, 0.03272886574268341, 0.07539544999599457, 0.18101389706134796, 0.01735096052289009, 0.01566218212246895, 0.058453574776649475, 0.07890928536653519, 0.19405828416347504, 0.017639029771089554, 0.017099563032388687, 1.2829500436782837, -0.6022071838378906, -0.23127728700637817, 1.2599537372589111, -1.3486825227737427, -0.23878507316112518, 0.09988328814506531, 1.2517037391662598, 0.09377263486385345, -0.009889602661132812, -0.07251255959272385, 0.16698312759399414, 0.8687689304351807, 0.08339311182498932, 0.19230355322360992, 0.23293617367744446, 1.2320327758789062, -0.035376645624637604, 1.098103642463684, 0.21141420304775238, 1.318142294883728, -0.09299827367067337, 1.27750825881958, 0.627264678478241, 0.04874394088983536, 1.2393358945846558, -0.1123758926987648, 0.9175314903259277, 1.3087784051895142, 0.5626944303512573, -1.1068564653396606, 0.5441480278968811, -0.000509425182826817, -6.810595465367442e-08, 0.05742198973894119, -0.6779118776321411], "std": [0.040099166333675385, 0.0311522725969553, 0.023091811686754227, 0.0657590702176094, 0.03283918648958206, 0.13446666300296783, 0.06580422073602676, 0.16404153406620026, 0.03682708367705345, 0.03942468762397766, 0.03083551861345768, 0.0904432088136673, 0.05830547586083412, 0.018664732575416565, 0.005231164395809174, 0.0050577824003994465, 0.03905551880598068, 0.029409661889076233, 0.0065790084190666676, 0.004887694492936134, 0.022630764171481133, 0.040783558040857315, 0.004208479076623917, 0.003758597420528531, 0.03285854309797287, 0.02122802659869194, 0.03403324633836746, 0.004280752036720514, 0.004114819224923849, 0.10846590250730515, 0.16119833290576935, 0.022854691371321678, 0.18127624690532684, 0.32805827260017395, 0.1354845017194748, 0.14944615960121155, 0.17576132714748383, 0.05941135063767433, 0.0666770488023758, 0.06897146999835968, 0.11827652901411057, 0.18945646286010742, 0.029818179085850716, 0.1337439864873886, 0.11574569344520569, 0.22525762021541595, 0.041326433420181274, 0.23679137229919434, 0.047399576753377914, 0.2545190751552582, 0.05908100679516792, 0.27943524718284607, 0.17813633382320404, 0.027236588299274445, 0.24103844165802002, 0.06392094492912292, 0.2521940767765045, 0.2810056507587433, 1.1027026630472392e-05, 8.031251127249561e-06, 1.2432085895852651e-05, 0.00013664198922924697, 5.112292001285823e-06, 0.01631876640021801, 0.023285917937755585], "count": [2231]}, "observation.state.tcp_pose": {"min": [0.3616955876350403, 0.18771705031394958, 0.954439640045166, -1.3304729461669922, 1.2177962064743042, -1.6277989149093628, 0.25783103704452515, -0.29778897762298584, 0.9612977504730225, -0.7891590595245361, 1.2179901599884033, 0.44719430804252625], "max": [0.42187851667404175, 0.23094488680362701, 1.0518471002578735, -1.0669097900390625, 1.8212734460830688, -1.2289535999298096, 0.46581584215164185, -0.0491691529750824, 1.1424566507339478, 1.2082754373550415, 1.9905016422271729, 1.572176456451416], "mean": [0.4081055819988251, 0.20038077235221863, 0.9866423010826111, -1.2734938859939575, 1.6571983098983765, -1.5838441848754883, 0.40625235438346863, -0.14711396396160126, 1.0583760738372803, -0.34222203493118286, 1.742335557937622, 0.7382370829582214], "std": [0.009322541765868664, 0.007451229263097048, 0.02395573817193508, 0.040538717061281204, 0.12927669286727905, 0.05572258308529854, 0.05367045849561691, 0.05923409014940262, 0.04666416347026825, 0.353824645280838, 0.13365955650806427, 0.17264017462730408], "count": [2231]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1877109259366989, 0.9545143246650696, -1.3308271169662476, 1.2178406715393066, -1.6276041269302368, 0.25728410482406616, -0.30392372608184814, 0.9612689018249512, -0.7892584800720215, 1.2182847261428833, 0.4470510184764862], "max": [0.4218403995037079, 0.23086538910865784, 1.0518072843551636, -1.066923975944519, 1.8213138580322266, -1.2289543151855469, 0.4658333659172058, -0.04912808537483215, 1.1422827243804932, 1.2081210613250732, 1.9907467365264893, 1.5820016860961914], "mean": [0.40812090039253235, 0.20038551092147827, 0.9866297245025635, -1.2734922170639038, 1.657080054283142, -1.5838797092437744, 0.40626540780067444, -0.14721186459064484, 1.058816909790039, -0.34394389390945435, 1.7404037714004517, 0.73809814453125], "std": [0.00932710338383913, 0.007467866875231266, 0.02397984452545643, 0.04064488038420677, 0.12936468422412872, 0.05567405745387077, 0.053710680454969406, 0.059419404715299606, 0.04677644744515419, 0.35101377964019775, 0.13605140149593353, 0.17179861664772034], "count": [2231]}, "subtask_index": {"min": [50], "max": [105], "mean": [79.45540116539668], "std": [15.923974922322003], "count": [2231]}, "observation.tactile": {"min": [-0.013042115606367588, -4.248546974849887e-05, -9.345279249828309e-05, -0.0009663116652518511, -0.00011795786849688739, -0.00020076391228940338, -0.007164663169533014, -4.623027052730322e-05, -0.0001064237512764521, -0.0007346123456954956, -3.532230039127171e-05, -0.00014416802150662988, -0.012240841053426266, -4.8911319026956335e-05, -0.00010888405086006969, -0.0013434698339551687, -8.074756624409929e-05, -0.00024061085423454642, -0.021498598158359528, -3.3691670978441834e-05, -7.386937068076804e-05, -0.0013171854661777616, -1.201391569338739e-05, -0.0004654474905692041, -0.0059446063823997974, -4.7611818445147946e-05, -0.0001072162704076618, -0.0007408735109493136, -6.333770579658449e-05, -0.00012936900020577013, -7.086826324462891, -3.649286009022035e-05, -8.586395415477455e-05, -0.18523432314395905, -0.015283234417438507, -0.13657981157302856, -6.383023738861084, -0.8972430229187012, -0.00010542880045250058, -0.26239609718322754, -0.022669529542326927, -0.11508948355913162, -1.3935714960098267, -4.73211330245249e-05, -0.0001044110395014286, -0.006168200634419918, -0.002439758274704218, -0.020446207374334335, -0.010660846717655659, -5.439811138785444e-05, -0.00012219985364936292, -0.0024772740434855223, -7.5509786256589e-05, -0.0002229275123681873, -0.19356901943683624, -4.32852357334923e-05, -9.71704866969958e-05, -0.0013315128162503242, -0.00019518681801855564, -0.002976570976898074], "max": [0.0003527570515871048, 0.017253775149583817, 0.04841027781367302, 1.774193037817895e-06, 0.00011438288493081927, 6.936183581274236e-06, 0.0003351211780682206, 0.012845580466091633, 0.037559378892183304, 1.8305208868696354e-06, 3.844674938591197e-05, 6.589532404177589e-06, 0.005479986313730478, 0.02138751558959484, 0.0635683685541153, 2.0374109226395376e-06, 0.00023989530745893717, 2.815663901856169e-05, 0.0023378890473395586, 0.023628348484635353, 0.06850069761276245, 1.3710914572584443e-06, 0.00016795123519841582, 5.641868028760655e-06, 0.002356988377869129, 0.017339030280709267, 0.04881521314382553, 2.001568418563693e-06, 0.0001728273491607979, 7.826310138625558e-06, 5.441181182861328, 15.060016632080078, 11.685460090637207, 0.001900214934721589, 0.04255096614360809, 0.08664759993553162, 3.349621057510376, 25.62837791442871, 17.537260055541992, 1.9842993879137794e-06, 0.00762547692283988, 0.12407064437866211, 0.0016055053565651178, 0.12430959194898605, 0.41267234086990356, 1.952746288225171e-06, 0.00018571138207335025, 7.66065113566583e-06, 0.20878450572490692, 0.059517960995435715, 0.14941413700580597, 2.219427187810652e-06, 0.0008471303735859692, 0.003160712542012334, 0.0006270950543694198, 0.031186161562800407, 0.05664531886577606, 1.795418597794196e-06, 0.0001874845620477572, 7.182960871432442e-06], "mean": [-0.001046913443133235, 0.0018286884296685457, 0.005589136388152838, -9.926776692736894e-05, -9.6592448244337e-06, -1.5191026250249706e-05, -0.00017397846386302263, 0.0008316230378113687, 0.002468065358698368, -4.5094308006810024e-05, 1.026601012199535e-06, -3.713731985044433e-06, -0.00022280315170064569, 0.0009143179631792009, 0.0027161934413015842, -5.129786950419657e-05, -1.018605303215736e-06, -3.5731616208067862e-06, -0.0011824669782072306, 0.002119307639077306, 0.006170724984258413, -0.0001000587290036492, 7.137353804864688e-06, -2.1949985239189118e-05, -0.0008962328429333866, 0.004690320231020451, 0.013517833314836025, -0.00020387880795169622, 3.353336069267243e-05, -2.3229145881487057e-05, 0.8878729343414307, 2.3161723613739014, 3.9713797569274902, -0.0669647753238678, 0.00633578933775425, 0.011388301849365234, -1.8021717071533203, 0.9239116311073303, 4.862947940826416, -0.08059273660182953, -0.003556923707947135, -0.029576502740383148, -0.0022096990142017603, 0.003612735541537404, 0.010796534828841686, -0.00021091473172418773, 2.3252336177392863e-05, -4.612851989804767e-05, -0.0009139994508586824, 0.003537153359502554, 0.010231809690594673, -0.00020725962531287223, 3.305498808003904e-07, -2.2645510398433544e-05, -0.0009358542738482356, 0.0022646335419267416, 0.006467422936111689, -0.000136735980049707, 5.7199940783903e-07, -1.8774035197566263e-05], "std": [0.001776176388375461, 0.0024061703588813543, 0.007274214178323746, 0.0001341621100436896, 2.1199135517235845e-05, 2.9058082873234525e-05, 0.0009106228244490921, 0.0017422412056475878, 0.005111744161695242, 9.568114910507575e-05, 5.384781161410501e-06, 1.856518065324053e-05, 0.0014533003559336066, 0.0024349289014935493, 0.007153366692364216, 0.00014096185623202473, 1.2976769539818633e-05, 2.890075120376423e-05, 0.0023269604425877333, 0.0032834219746291637, 0.009495563805103302, 0.0001586580474395305, 1.6355159459635615e-05, 4.615929719875567e-05, 0.0009649416315369308, 0.003354225540533662, 0.009557763114571571, 0.00014577254478354007, 2.520767884561792e-05, 2.0446055714273825e-05, 1.6274899244308472, 2.4854416847229004, 3.7247471809387207, 0.06393340975046158, 0.014263760298490524, 0.030236173421144485, 1.7551594972610474, 2.277188777923584, 4.459333896636963, 0.07578033953905106, 0.0069397371262311935, 0.03135458752512932, 0.04093107953667641, 0.00444251112639904, 0.015330969356000423, 0.0002731815620791167, 7.203973655123264e-05, 0.0005844827392138541, 0.008760194294154644, 0.00435276236385107, 0.012500518001616001, 0.0002508237666916102, 4.328235809225589e-05, 0.00013756216503679752, 0.0063077411614358425, 0.0032176219392567873, 0.00901008304208517, 0.00019570725271478295, 1.8775590433506295e-05, 9.35535499593243e-05], "count": [2231]}, "timestamp": {"min": [0.0], "max": [74.33333333333333], "mean": [37.16666666666667], "std": [21.46780535282232], "count": [2231]}, "frame_index": {"min": [0], "max": [2230], "mean": [1115.0], "std": [644.0341605846696], "count": [2231]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2231]}, "index": {"min": [2414], "max": [4644], "mean": [3529.0], "std": [644.0341605846696], "count": [2231]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2231]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5575195550918579]], [[0.5574560761451721]], [[0.5576289892196655]]], "std": [[[0.2920430302619934]], [[0.29192909598350525]], [[0.2925654351711273]]], "count": [2231]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30458831787109375]], [[0.30722710490226746]], [[0.3045670986175537]]], "std": [[[0.1834559291601181]], [[0.1834689825773239]], [[0.18317891657352448]]], "count": [2231]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.309268593788147]], [[0.31155839562416077]], [[0.3086078464984894]]], "std": [[[0.184087872505188]], [[0.18274502456188202]], [[0.18193352222442627]]], "count": [2231]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5589707493782043]], [[0.5590184330940247]], [[0.5589038133621216]]], "std": [[[0.29836219549179077]], [[0.2980831563472748]], [[0.29895782470703125]]], "count": [2231]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.686274528503418]], [[0.686274528503418]], [[0.686274528503418]]], "mean": [[[0.0032928865402936935]], [[0.0032928865402936935]], [[0.0032928865402936935]]], "std": [[[0.035862620919942856]], [[0.035862620919942856]], [[0.035862620919942856]]], "count": [2231]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4903882145881653]], [[0.4903882145881653]], [[0.4903882145881653]]], "std": [[[0.2213551551103592]], [[0.2213551551103592]], [[0.2213551551103592]]], "count": [2231]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [1.0500003099441528, -0.800409734249115, -0.2243463695049286, 1.0647022724151611, -0.037299223244190216, -0.7699997425079346, 0.16269256174564362, 0.006945404689759016, -0.001159585895948112, -0.2783634066581726, 0.00014318923058453947, 0.0035307372454553843, 0.003669164376333356, -0.08412830531597137, 0.0035353463608771563, 0.0008562495931982994, 0.00016754958778619766, -0.0987136960029602, 0.006868946366012096, 0.0008589101489633322, -0.0031861409079283476, -0.026951689273118973, 0.002661349019035697, 0.0008229928789660335, 0.005616118665784597, -0.0028959326446056366, -0.020794058218598366, 0.0022720389533787966, 0.0008367390255443752, 1.0468215942382812, -1.1781326532363892, -0.24273544549942017, 0.9565313458442688, -1.964755654335022, -0.7693407535552979, -0.45155301690101624, 0.005614176858216524, -0.257815420627594, -0.20924200117588043, -0.21475441753864288, 0.0032456684857606888, 0.005292653571814299, -0.012431052513420582, 0.0037991409189999104, 0.0008256534347310662, -0.00034932742710225284, -0.10385723412036896, 0.003448123810812831, 0.0008868458098731935, -0.001805760432034731, -0.15709920227527618, 0.003936356864869595, 0.0008500416879542172, 0.012943724170327187, -0.0011753002181649208, -0.17701749503612518, 0.005584010388702154, 0.000866004906129092, 0.5617246031761169, -1.1073423624038696, 0.5437003374099731, -0.0006711165769957006, -0.0001917476038215682, -0.0001917476038215682, -0.7365983724594116], "max": [1.257584571838379, -0.61655193567276, 1.1984224101979635e-07, 1.5700000524520874, 0.2218593955039978, 0.25569385290145874, 0.6342852115631104, 1.3917570114135742, 0.29560405015945435, -0.003544882405549288, 0.2761697471141815, 0.5808197259902954, 0.5399215817451477, 0.12513574957847595, 0.04249223321676254, 0.04086718335747719, 0.37924444675445557, 0.20528334379196167, 0.05808555334806442, 0.040877826511859894, 0.08102752268314362, 0.21117332577705383, 0.008878609165549278, 0.008432130329310894, 0.24079629778862, 0.044282156974077225, 0.23313631117343903, 0.007625229191035032, 0.008677786216139793, 1.5049151182174683, -0.3155817985534668, -0.00023752734705340117, 1.9740618467330933, 0.16991354525089264, 0.12540508806705475, 0.698172926902771, 1.4769233465194702, 0.2743763029575348, 0.45586666464805603, 0.2938740849494934, 0.5071216821670532, 1.1024787425994873, 0.16287586092948914, 0.678565263748169, 0.4814348816871643, 1.4686310291290283, 0.230524942278862, 1.4048433303833008, 0.6927006244659424, 1.4172600507736206, 0.2704623341560364, 1.5182193517684937, 0.7073144912719727, 0.24199508130550385, 1.3633755445480347, 0.2942195534706116, 1.4233980178833008, 1.3082146644592285, 0.5633544325828552, -1.106479525566101, 0.5444673299789429, 0.0005752427969127893, 9.58738019107841e-05, 0.10498180985450745, -0.5975813865661621], "mean": [1.1285616159439087, -0.6528640389442444, -0.22205835580825806, 1.1290777921676636, 0.057454872876405716, 0.12291792780160904, 0.31570667028427124, 1.335739016532898, 0.2837390899658203, -0.17421913146972656, 0.2615404427051544, 0.564568042755127, 0.4490295648574829, 0.10658394545316696, 0.03816959261894226, 0.03598267212510109, 0.2484089881181717, 0.16825562715530396, 0.04084087535738945, 0.02800895832479, 0.020216897130012512, 0.17248119413852692, 0.003421725472435355, 0.002700702054426074, 0.22490949928760529, 0.0032853237353265285, 0.19429227709770203, 0.002434344496577978, 0.0018150120740756392, 1.2948635816574097, -0.5670058131217957, -0.2326967865228653, 1.2482848167419434, -1.2693696022033691, -0.1898384690284729, 0.06722147017717361, 1.2897841930389404, 0.11198126524686813, 0.005922103300690651, -0.10871223360300064, 0.22822199761867523, 0.8053315281867981, 0.09929778426885605, 0.23946718871593475, 0.2179572880268097, 1.175025463104248, -0.02402900718152523, 1.1757718324661255, 0.42274728417396545, 1.3384363651275635, -0.09123332053422928, 1.2882908582687378, 0.39719200134277344, 0.06788555532693863, 1.2639144659042358, -0.10945360362529755, 0.774704098701477, 1.231135368347168, 0.5627037286758423, -1.1068685054779053, 0.5441157221794128, -0.00012392160715535283, -5.986499473920048e-08, 0.0646115243434906, -0.6874116063117981], "std": [0.04293455556035042, 0.026118505746126175, 0.01859908550977707, 0.0615864172577858, 0.059247247874736786, 0.11834753304719925, 0.09296787530183792, 0.13093209266662598, 0.030540643259882927, 0.030226262286305428, 0.02915792353451252, 0.06145305559039116, 0.0672563686966896, 0.021192142739892006, 0.004652384202927351, 0.004564983770251274, 0.08750098198652267, 0.03714878484606743, 0.013319188728928566, 0.008319973014295101, 0.021016685292124748, 0.039584364742040634, 0.0018067414639517665, 0.0019942561630159616, 0.045003507286310196, 0.00841072853654623, 0.037642937153577805, 0.000336520723067224, 0.0007296275580301881, 0.12050150334835052, 0.1619178205728531, 0.02045552060008049, 0.2169472724199295, 0.38266003131866455, 0.1731889694929123, 0.19818231463432312, 0.14932064712047577, 0.07811732590198517, 0.12272612750530243, 0.0803641602396965, 0.12471694499254227, 0.18684494495391846, 0.02997012808918953, 0.1388963907957077, 0.12268800288438797, 0.20859645307064056, 0.03501696512103081, 0.2607470750808716, 0.18531611561775208, 0.223593071103096, 0.04976329207420349, 0.23854395747184753, 0.11691401153802872, 0.02598683163523674, 0.21123802661895752, 0.05797925591468811, 0.28077080845832825, 0.22387062013149261, 6.724630657117814e-05, 4.8153709940379485e-05, 7.507535337936133e-05, 0.0003571600536815822, 5.868288553756429e-06, 0.020805660635232925, 0.03467490151524544], "count": [3203]}, "observation.state.joint_torque": {"min": [-40.895999908447266, -14.230500221252441, -22.05699920654297, -10.190999984741211, -0.8087999820709229, -2.1040000915527344, 0.9927999973297119, -1.4938477277755737, -0.331117182970047, -0.4274851977825165, -0.2895466685295105, -0.1776474118232727, -0.3933803141117096, -0.5660839080810547, -0.0979551151394844, -0.039956167340278625, -0.27824464440345764, -0.3521233797073364, -0.14444229006767273, -0.033534638583660126, -0.24274446070194244, -0.5190701484680176, -0.09961536526679993, -0.03710215538740158, -0.10159404575824738, -0.12856820225715637, -0.5267458558082581, -0.12119869887828827, -0.02925362065434456, -6.576000213623047, -17.1825008392334, -11.875, -11.685999870300293, -2.5399999618530273, -5.1743998527526855, -3.696000099182129, -1.7854855060577393, -0.8481693267822266, -0.39766064286231995, -0.7170318961143494, -0.16104483604431152, -1.0525323152542114, -0.9892076253890991, -0.13946151733398438, -0.07277730107307434, -1.3077497482299805, -1.2166006565093994, -0.42004477977752686, -0.12058199942111969, -0.8251392245292664, -0.6025435328483582, -0.22247432172298431, -0.10131742060184479, -0.4908180236816406, -1.1715058088302612, -0.7243955135345459, -0.5777691602706909, -0.08704736083745956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.40399932861328, 20.393999099731445, -9.378999710083008, 6.804999828338623, 1.8968000411987305, 1.039199948310852, 2.980799913406372, 0.5234197974205017, 0.21140557527542114, 0.3852337598800659, 0.2895466685295105, 0.09297433495521545, 0.38666412234306335, 0.29935285449028015, 0.09463459998369217, 0.01712406985461712, 0.49412408471107483, 0.2532985508441925, 0.13614100217819214, 0.013556556776165962, 0.2964744567871094, 0.40393441915512085, 0.061429474502801895, 0.012843053787946701, 0.07168757915496826, 0.19093339145183563, 0.36075857281684875, 0.04980768263339996, 0.014270060695707798, 37.7760009765625, 12.031499862670898, 21.805999755859375, 4.132999897003174, 0.5112000107765198, 3.0007998943328857, 7.281599998474121, 2.520310640335083, 4.922183990478516, 2.506505012512207, 1.5968559980392456, 0.6541408896446228, 2.154956579208374, 0.9469912648200989, 1.0625640153884888, 0.21476440131664276, 0.8318555355072021, 0.47685369849205017, 0.29552558064460754, 0.03496164828538895, 0.4499887228012085, 1.0851540565490723, 0.11787818372249603, 0.027826614677906036, 0.4098946154117584, 0.4682185649871826, 1.1292893886566162, 0.2722820043563843, 0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.984275817871094, 2.24082088470459, -12.727652549743652, -1.8077313899993896, -0.23667630553245544, -0.4083048701286316, 1.6287795305252075, -0.0003081411123275757, -0.002337517449632287, 0.022663388401269913, 0.011969093233346939, 0.0009262815001420677, 0.020360345020890236, 0.014913183636963367, 0.0005033122142776847, 9.957401925930753e-05, 0.026889866217970848, 0.004335999023169279, 0.005731329787522554, 0.0007159552769735456, 0.03540049493312836, 0.04751908779144287, -0.00010522412048885599, -0.003343205200508237, -0.0018917080014944077, 0.008472173474729061, 0.028057606890797615, -0.00018193879805039614, -0.0008774553425610065, 28.041173934936523, 0.44103604555130005, 12.53900146484375, -1.3672419786453247, -0.3657345771789551, 1.3483428955078125, -0.9325326681137085, 0.4373980760574341, 1.4548064470291138, 0.42931094765663147, 0.16099753975868225, 0.14881087839603424, 0.9933642745018005, -0.0608847551047802, 0.49605312943458557, 0.11749712377786636, -0.0663893073797226, -0.12830017507076263, -0.007986649870872498, -0.0029885591939091682, 0.004429794382303953, -0.017389554530382156, 0.0016918769106268883, -0.0007870118133723736, 0.002970267552882433, -0.012734840624034405, -0.037832532078027725, -0.01934046484529972, 0.0022741593420505524, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7793343663215637, 0.9575847387313843, 0.5888252854347229, 0.7045608758926392, 0.26452574133872986, 0.33655846118927, 0.1706458330154419, 0.04163036122918129, 0.021609580144286156, 0.050229981541633606, 0.041134003549814224, 0.008179178461432457, 0.053257957100868225, 0.05322536081075668, 0.006933080498129129, 0.003646902274340391, 0.054653678089380264, 0.04299313575029373, 0.018343791365623474, 0.0037690005265176296, 0.049493495374917984, 0.07200099527835846, 0.0037864830810576677, 0.007653356529772282, 0.009360342286527157, 0.025576025247573853, 0.05743981525301933, 0.004617605358362198, 0.003954238723963499, 4.726412773132324, 1.8515206575393677, 2.4854321479797363, 1.9658923149108887, 0.37508392333984375, 0.8114550709724426, 0.8298514485359192, 0.7666959762573242, 1.4670069217681885, 0.4884885251522064, 0.3251166045665741, 0.16497580707073212, 0.901877224445343, 0.2927951216697693, 0.44093605875968933, 0.10000913590192795, 0.17999330163002014, 0.2010350227355957, 0.04176432266831398, 0.012434003874659538, 0.08937946707010269, 0.10957100987434387, 0.024909328669309616, 0.009686469100415707, 0.05482565239071846, 0.1507517248392105, 0.15683898329734802, 0.05165316164493561, 0.008115534670650959, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3203]}, "observation.state.tcp": {"min": [0.35810738801956177, 0.19242817163467407, 0.9484878182411194, -1.3288373947143555, 1.2178395986557007, -1.7045279741287231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23834717273712158, -0.2612340450286865, 0.9608327150344849, -0.8887845873832703, 1.1718894243240356, 0.20999477803707123, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42312344908714294, 0.23740720748901367, 1.0519421100616455, -1.0545910596847534, 2.040431261062622, -1.2289531230926514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47890034317970276, -0.027444347739219666, 1.1474785804748535, 1.2087042331695557, 2.0945961475372314, 1.5637065172195435, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3988376259803772, 0.21343037486076355, 0.9769204258918762, -1.230109691619873, 1.815488576889038, -1.587086796760559, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40976381301879883, -0.1348656862974167, 1.062303066253662, -0.2781842052936554, 1.7864903211593628, 0.7501578330993652, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01194778736680746, 0.008927697315812111, 0.023075535893440247, 0.07208426296710968, 0.1268613189458847, 0.0588412843644619, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.058731090277433395, 0.05258508399128914, 0.04941510781645775, 0.38574060797691345, 0.15715233981609344, 0.2366064190864563, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3203]}, "action": {"min": [1.050026774406433, -0.8007809519767761, -0.22434470057487488, 1.0647013187408447, -0.03729405626654625, -0.7699431777000427, 0.16270874440670013, 0.0, 0.0, -0.28519517183303833, 0.0, 0.0, 0.0, -0.08307480067014694, 0.0, 0.0, 0.0, -0.10609990358352661, 0.0, 0.0, 0.0, -0.11831191927194595, 0.0, 0.0, 0.0, 0.0, -0.02770545519888401, 0.0, 0.0, 1.0468275547027588, -1.1782951354980469, -0.2427351325750351, 0.9565195441246033, -1.9650193452835083, -0.7699999809265137, -0.4516477584838867, 0.0, -0.2584505081176758, -0.21021555364131927, -0.2176656574010849, 0.0, 0.0, -0.013496307656168938, 0.0, 0.0, 0.0, -0.10826944559812546, 0.0, 0.0, 0.0, -0.1571969836950302, 0.0, 0.0, -5.538946190597471e-09, 0.0, -0.17703019082546234, 0.0, 0.0, 0.5626833438873291, -1.1069588661193848, 0.5439879298210144, -0.00042281276546418667, -1.8985876522492617e-05, -0.00016881292685866356, -0.736835241317749], "max": [1.2577800750732422, -0.6165375709533691, -2.8972475774935447e-05, 1.5699632167816162, 0.22201386094093323, 0.25588691234588623, 0.6344365477561951, 1.403145670890808, 0.29246336221694946, 0.0, 0.27895379066467285, 0.5851231813430786, 0.5453794002532959, 0.12606634199619293, 0.0486752986907959, 0.045244988054037094, 0.38753828406333923, 0.20342041552066803, 0.06340816617012024, 0.04194442555308342, 0.08337796479463577, 0.21524803340435028, 0.013464242219924927, 0.013337071985006332, 0.26180002093315125, 0.05027671903371811, 0.2395486980676651, 0.013124470598995686, 0.012513740919530392, 1.504909634590149, -0.3155307173728943, 0.0, 1.9741915464401245, 0.1698942929506302, 0.12562641501426697, 0.7685248255729675, 1.485672116279602, 0.288862407207489, 0.46084150671958923, 0.29441341757774353, 0.5112794041633606, 1.1284210681915283, 0.18509262800216675, 0.6949241757392883, 0.537552535533905, 1.5166651010513306, 0.2696327567100525, 1.4082738161087036, 0.6934881806373596, 1.4447826147079468, 0.2995818257331848, 1.5248661041259766, 0.722480297088623, 0.26180002093315125, 1.3770090341567993, 0.3027614653110504, 1.4273231029510498, 1.4069401025772095, 0.5626999735832214, -1.106863021850586, 0.544300377368927, 0.0005654977867379785, 6.856153777334839e-05, 0.10614606738090515, -0.5977556705474854], "mean": [1.1286036968231201, -0.6529210805892944, -0.2220648229122162, 1.129076361656189, 0.057400621473789215, 0.12283320724964142, 0.31586557626724243, 1.342142939567566, 0.286566823720932, -0.17087145149707794, 0.26467186212539673, 0.5689920783042908, 0.4550498127937317, 0.10865289717912674, 0.042984455823898315, 0.04013732448220253, 0.2548215687274933, 0.17026041448116302, 0.04581310972571373, 0.03192497417330742, 0.021449893712997437, 0.17883986234664917, 0.004441358149051666, 0.004397393204271793, 0.24304135143756866, 0.003263283520936966, 0.20229032635688782, 0.0009466750780120492, 0.0009267415152862668, 1.2956839799880981, -0.5676807761192322, -0.23270709812641144, 1.2488852739334106, -1.269990086555481, -0.19001953303813934, 0.06706491857767105, 1.2924696207046509, 0.1166105642914772, 0.006106888875365257, -0.10886959731578827, 0.22900515794754028, 0.8270800113677979, 0.09022402763366699, 0.25594601035118103, 0.26946431398391724, 1.1790590286254883, -0.02443256601691246, 1.176334261894226, 0.4231269657611847, 1.3396639823913574, -0.09127286076545715, 1.2899318933486938, 0.39810726046562195, 0.06609081476926804, 1.2643359899520874, -0.11014601588249207, 0.7746530771255493, 1.251470923423767, 0.5627095103263855, -1.1068798303604126, 0.5441643595695496, -0.00013447634410113096, -3.200967455541104e-07, 0.0646856501698494, -0.6874461770057678], "std": [0.04296530783176422, 0.02625628188252449, 0.01858927495777607, 0.061505500227212906, 0.05914110690355301, 0.11845747381448746, 0.09314092993736267, 0.13580381870269775, 0.029957041144371033, 0.031031886115670204, 0.028874056413769722, 0.059868425130844116, 0.06621762365102768, 0.020813575014472008, 0.005352730862796307, 0.004988109227269888, 0.088289774954319, 0.0359949991106987, 0.0138105358928442, 0.008404998108744621, 0.021741429343819618, 0.040045399218797684, 0.0036482715513557196, 0.0036120961885899305, 0.053617533296346664, 0.009572559967637062, 0.03736870735883713, 0.002749969717115164, 0.00269083259627223, 0.12047701328992844, 0.16265538334846497, 0.020480357110500336, 0.21743257343769073, 0.3813971281051636, 0.17317508161067963, 0.19919627904891968, 0.15304574370384216, 0.07944502681493759, 0.12261128425598145, 0.08018805831670761, 0.1254958212375641, 0.1976335197687149, 0.03345104679465294, 0.14601121842861176, 0.1419152319431305, 0.20971493422985077, 0.03568543866276741, 0.2572208046913147, 0.18483738601207733, 0.21826420724391937, 0.04964322969317436, 0.23488791286945343, 0.11687569320201874, 0.028738632798194885, 0.20611649751663208, 0.05785582587122917, 0.28109848499298096, 0.22797338664531708, 2.607931492093485e-05, 1.72781747096451e-05, 3.063017356907949e-05, 0.00038694380782544613, 5.921465344727039e-06, 0.020794397220015526, 0.03469473868608475], "count": [3203]}, "observation.state.tcp_pose": {"min": [0.35810738801956177, 0.19242817163467407, 0.9484878182411194, -1.3288373947143555, 1.2178395986557007, -1.7045279741287231, 0.23834717273712158, -0.2612340450286865, 0.9608327150344849, -0.8887845873832703, 1.1718894243240356, 0.20999477803707123], "max": [0.42312344908714294, 0.23740720748901367, 1.0519421100616455, -1.0545910596847534, 2.040431261062622, -1.2289531230926514, 0.47890034317970276, -0.027444347739219666, 1.1474785804748535, 1.2087042331695557, 2.0945961475372314, 1.5637065172195435], "mean": [0.3988376259803772, 0.21343037486076355, 0.9769204258918762, -1.230109691619873, 1.815488576889038, -1.587086796760559, 0.40976381301879883, -0.1348656862974167, 1.062303066253662, -0.2781842052936554, 1.7864903211593628, 0.7501578330993652], "std": [0.01194778736680746, 0.008927697315812111, 0.023075535893440247, 0.07208426296710968, 0.1268613189458847, 0.0588412843644619, 0.058731090277433395, 0.05258508399128914, 0.04941510781645775, 0.38574060797691345, 0.15715233981609344, 0.2366064190864563], "count": [3203]}, "action.tcp_pose": {"min": [0.358378529548645, 0.19243067502975464, 0.9485105872154236, -1.3291630744934082, 1.2178601026535034, -1.7044968605041504, 0.23810319602489471, -0.26673436164855957, 0.9607958197593689, -0.890078604221344, 1.1514089107513428, 0.2098304182291031], "max": [0.42298945784568787, 0.23793695867061615, 1.0520122051239014, -1.0548264980316162, 2.0403897762298584, -1.2289866209030151, 0.47883617877960205, -0.02742229402065277, 1.1474504470825195, 1.2088515758514404, 2.095621347427368, 1.5749876499176025], "mean": [0.3988613486289978, 0.2134665846824646, 0.976922333240509, -1.2300153970718384, 1.8152958154678345, -1.587056279182434, 0.4098201394081116, -0.13502392172813416, 1.0627373456954956, -0.27892178297042847, 1.7853903770446777, 0.7500633597373962], "std": [0.01194459106773138, 0.008948227390646935, 0.023109441623091698, 0.07213540375232697, 0.1270647943019867, 0.05889090523123741, 0.058720532804727554, 0.05276676267385483, 0.049487631767988205, 0.38404425978660583, 0.15811112523078918, 0.2372467815876007], "count": [3203]}, "subtask_index": {"min": [50], "max": [160], "mean": [131.807680299719], "std": [20.022135199033794], "count": [3203]}, "observation.tactile": {"min": [-0.0063966563902795315, -4.412990529090166e-05, -9.7517782705836e-05, -0.0014601920265704393, -5.2548850362654775e-05, -0.00016794323164504021, -0.01082881260663271, -4.60678493254818e-05, -0.00010623731941450387, -0.0006787267629988492, -1.7446782294427976e-05, -0.00022386552882380784, -0.008343067020177841, -4.915073077427223e-05, -0.00010850174294319004, -0.0013851721305400133, -3.6050179915037006e-05, -0.00015491817612200975, -0.013185666874051094, -3.58688848791644e-05, -7.742363231955096e-05, -0.0010429337853565812, -3.654322063084692e-05, -0.0002995733229909092, -0.005594266578555107, -4.698198245023377e-05, -0.00010573671897873282, -0.0007344818441197276, -5.797340418212116e-05, -0.00012912739475723356, -1.0015000104904175, -4.036588507005945e-05, -9.410011261934415e-05, -0.20977237820625305, -0.006860549561679363, -0.03016103431582451, -5.145816802978516, -1.006233811378479, -9.785383008420467e-05, -0.26547446846961975, -0.02973759174346924, -0.0913391262292862, -1.160103440284729, -4.921925574308261e-05, -0.00010875578300328925, -0.0020133282523602247, -0.0005286120576784015, -0.013787815347313881, -0.023470439016819, -5.531445276574232e-05, -0.0001259663695236668, -0.0026697576977312565, -4.5307937398320064e-05, -0.0005182654713280499, -0.4955991506576538, -4.052573422086425e-05, -9.063098696060479e-05, -0.0014185915933921933, -0.00019692779460456222, -0.006806717719882727], "max": [0.015450402162969112, 0.0221205186098814, 0.0632772371172905, 1.8383955193712609e-06, 0.0003028267528861761, 0.00020351079001557082, 0.003631733125075698, 0.011313121765851974, 0.03342568874359131, 1.8323362382943742e-06, 0.00015149112732615322, 9.91560682450654e-06, 0.008591382764279842, 0.020025404170155525, 0.05923457816243172, 2.0124584807490464e-06, 0.00026214096578769386, 6.668001151410863e-05, 0.004184276331216097, 0.01627533696591854, 0.04745969548821449, 1.4327692952065263e-06, 0.00019805817282758653, 1.559362317493651e-05, 0.010119659826159477, 0.01181729044765234, 0.03702927753329277, 1.98158340936061e-06, 0.0002124495804309845, 0.0001330183877144009, 5.429964542388916, 9.481223106384277, 11.347880363464355, 1.7359325283905491e-06, 0.03963145613670349, 0.08550984412431717, 1.3751499652862549, 16.545339584350586, 14.460461616516113, 1.8493306015443522e-06, 0.016161024570465088, 0.05691209062933922, 0.016200842335820198, 0.08093169331550598, 0.14314964413642883, 2.0026686797791626e-06, 0.0027139221783727407, 0.00021156808361411095, 0.08263316005468369, 0.05508510395884514, 0.17151294648647308, 2.2885863018018426e-06, 0.0009454617975279689, 0.000993577647022903, 0.16469697654247284, 0.05029315501451492, 0.08654508739709854, 1.6511894500581548e-06, 0.00022073071158956736, 0.0027286845725029707], "mean": [-0.00015196677122730762, 0.0024866524618119, 0.007266354747116566, -0.00014085213479120284, 1.753451033437159e-05, -8.810788131086156e-06, 0.00013553089229390025, 0.0001696563995210454, 0.0005165352486073971, -1.0057437066279817e-05, 1.946797709706516e-07, 2.0473864879022585e-06, 3.113846560154343e-06, 0.0010997639037668705, 0.003283834783360362, -6.0298771131783724e-05, 3.830276455119019e-06, -1.17783815767325e-06, -6.51617010589689e-05, 0.0011690229875966907, 0.0034210870508104563, -4.620239633368328e-05, 8.12608686828753e-06, -2.553761760282214e-06, 3.518929588608444e-05, 0.0007654234068468213, 0.002255801809951663, -3.307799488538876e-05, 1.4637851109000621e-06, 1.7808306438382715e-06, 1.8008555173873901, 2.487738847732544, 4.352477073669434, -0.0778159350156784, 0.011079528369009495, 0.026301641017198563, -1.3844661712646484, 1.0487273931503296, 5.463936805725098, -0.08897393941879272, -0.005603856407105923, -0.02137002721428871, -0.006225569173693657, 0.0037858053110539913, 0.010543929412961006, -0.00020371319260448217, 2.739297087828163e-05, -8.341996726812795e-05, -0.00288833468221128, 0.00917781051248312, 0.02697218768298626, -0.0005993321537971497, 2.8361358999973163e-05, -7.441956404363737e-05, -0.0004378213780000806, 0.0011018264340236783, 0.003205777145922184, -6.871980440337211e-05, 2.4612333504592243e-07, -8.01749229140114e-06], "std": [0.001098547363653779, 0.003690771758556366, 0.010626203380525112, 0.00022080035705585033, 3.691599704325199e-05, 2.2916878151590936e-05, 0.000623923318926245, 0.0008117593824863434, 0.0023491091560572386, 4.5327098632697016e-05, 8.059262654569466e-06, 1.3888271496398374e-05, 0.0009942487813532352, 0.002507098950445652, 0.007404319476336241, 0.00014848203863948584, 2.0960786059731618e-05, 1.9560086002456956e-05, 0.0007388679659925401, 0.0021697422489523888, 0.006269296631217003, 9.109185339184478e-05, 1.9954153685830534e-05, 1.526839150756132e-05, 0.0006337679806165397, 0.0014452108880504966, 0.004211608786135912, 6.499938172055408e-05, 1.3527259397960734e-05, 9.716420208860654e-06, 1.6559367179870605, 2.137995481491089, 3.519987106323242, 0.06347539275884628, 0.010938087478280067, 0.027675645425915718, 1.4562032222747803, 1.414201259613037, 4.4412007331848145, 0.07333201169967651, 0.007371962536126375, 0.02330535650253296, 0.06939827650785446, 0.006088648457080126, 0.014263611286878586, 0.0002687278320081532, 0.00015230935241561383, 0.0008182142046280205, 0.0034773536026477814, 0.0065807984210550785, 0.019408032298088074, 0.00042622131877578795, 3.9339036447927356e-05, 7.033041765680537e-05, 0.010612267069518566, 0.002556839492172003, 0.00705311493948102, 0.0001525395637145266, 1.3664419384440407e-05, 0.0001500215585110709], "count": [3203]}, "timestamp": {"min": [0.0], "max": [106.73333333333333], "mean": [53.366666666666674], "std": [30.820880368131384], "count": [3203]}, "frame_index": {"min": [0], "max": [3202], "mean": [1601.0], "std": [924.6264110439416], "count": [3203]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [3203]}, "index": {"min": [4645], "max": [7847], "mean": [6246.0], "std": [924.6264110439416], "count": [3203]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3203]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5613780617713928]], [[0.5612476468086243]], [[0.5614548325538635]]], "std": [[[0.294522762298584]], [[0.2945363223552704]], [[0.29508721828460693]]], "count": [3203]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30426037311553955]], [[0.30715715885162354]], [[0.3048922121524811]]], "std": [[[0.18352819979190826]], [[0.1834179013967514]], [[0.18326100707054138]]], "count": [3203]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3086186349391937]], [[0.3105155825614929]], [[0.30786603689193726]]], "std": [[[0.18243317306041718]], [[0.1809471994638443]], [[0.180324986577034]]], "count": [3203]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5617833733558655]], [[0.5618271827697754]], [[0.5617343187332153]]], "std": [[[0.2989571690559387]], [[0.2987026572227478]], [[0.29953089356422424]]], "count": [3203]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5960784554481506]], [[0.5960784554481506]], [[0.5960784554481506]]], "mean": [[[0.0037637376226484776]], [[0.0037637376226484776]], [[0.0037637376226484776]]], "std": [[[0.03743872046470642]], [[0.03743872046470642]], [[0.03743872046470642]]], "count": [3203]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.489747017621994]], [[0.489747017621994]], [[0.489747017621994]]], "std": [[[0.22113502025604248]], [[0.22113502025604248]], [[0.22113502025604248]]], "count": [3203]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [1.0504688024520874, -0.8535661697387695, -0.22415882349014282, 1.1446542739868164, 0.0004204066062811762, -0.7681014537811279, 0.1011449471116066, 0.006778098177164793, -0.00022855625138618052, -0.2687877416610718, 0.00013826471695210785, 0.003524355124682188, 0.0036696549504995346, -0.022257601842284203, 0.0034945716615766287, 0.0008478245581500232, 5.59315194550436e-05, -0.038079384714365005, 0.006876037921756506, 0.0008562495931982994, -0.0032131252810359, -0.02690238133072853, 0.0027652359567582607, 0.0008216626010835171, 0.005839820951223373, -0.0029140871483832598, 0.00045088748447597027, 0.0023578430991619825, 0.0008420600206591189, 1.0353081226348877, -1.144395351409912, -0.24254752695560455, 0.9716795086860657, -1.7362542152404785, -0.7696110010147095, -0.2307213842868805, 0.00557424733415246, -0.11990486830472946, -0.23425808548927307, -0.2693135142326355, 0.003261623904109001, 0.005325280595570803, -0.009208818897604942, 0.0035598112735897303, 0.00077111239079386, 0.0001282992889173329, -0.08232055604457855, 0.003456988139078021, 0.000881524698343128, -0.001083308714441955, -0.1378650814294815, 0.003550592577084899, 0.0008699956815689802, 0.0066725523211061954, -0.0005286544328555465, -0.16619443893432617, 0.0057591646909713745, 0.0007684518350288272, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0006711165769957006, -9.58738019107841e-05, -0.0001917476038215682, -0.7540474534034729], "max": [1.2700361013412476, -0.6295609474182129, -0.0008415322517976165, 1.5691328048706055, 0.21601901948451996, 0.29764777421951294, 0.5239334106445312, 1.4141262769699097, 0.29601508378982544, -0.003546776482835412, 0.28436827659606934, 0.6775781512260437, 0.5440519452095032, 0.15967918932437897, 0.03783327713608742, 0.04086939990520477, 0.45586368441581726, 0.26282814145088196, 0.057232119143009186, 0.04113944247364998, 0.12198027223348618, 0.27342718839645386, 0.014886676333844662, 0.013193604536354542, 0.2407320737838745, 0.09410571306943893, 0.2820661962032318, 0.014939860440790653, 0.01768946833908558, 1.532212257385254, -0.3565273582935333, -0.0006838198751211166, 1.8503801822662354, 0.13898824155330658, 0.08773759007453918, 0.6981359720230103, 1.4373589754104614, 0.294241726398468, 0.4105186462402344, 0.2515701651573181, 0.46898919343948364, 1.0792585611343384, 0.18730153143405914, 0.6975666284561157, 0.5097691416740417, 1.4399182796478271, 0.2889477610588074, 1.3970177173614502, 0.4231141209602356, 1.409694790840149, 0.2981882393360138, 1.5492221117019653, 0.9167329668998718, 0.2497144341468811, 1.3310590982437134, 0.2971333861351013, 1.4816303253173828, 1.308522343635559, 0.5627791881561279, -1.106767177581787, 0.5443714261054993, 0.0003834952076431364, 9.58738019107841e-05, 0.07574030011892319, -0.5998823642730713], "mean": [1.121585488319397, -0.6738864779472351, -0.22219718992710114, 1.1992955207824707, 0.1156117245554924, 0.15909841656684875, 0.23680949211120605, 1.3662887811660767, 0.28769707679748535, -0.11206124722957611, 0.21858708560466766, 0.6575921177864075, 0.4500669240951538, 0.143374502658844, 0.03699777275323868, 0.03585423529148102, 0.313067227602005, 0.222405344247818, 0.0431046262383461, 0.03153392672538757, 0.04652447625994682, 0.21923553943634033, 0.0055677094496786594, 0.00625006714835763, 0.21325623989105225, 0.019049473106861115, 0.2220219075679779, 0.004595363046973944, 0.0043467991054058075, 1.2791961431503296, -0.6389941573143005, -0.23686525225639343, 1.2958943843841553, -1.2532176971435547, -0.1722465455532074, 0.048640504479408264, 1.28299880027771, 0.1194802075624466, 0.03507208451628685, -0.10747081786394119, 0.1938065141439438, 0.7860549092292786, 0.10000119358301163, 0.2818315923213959, 0.13626310229301453, 1.2570382356643677, -0.03245820477604866, 1.1434324979782104, 0.12031398713588715, 1.332773208618164, -0.09593554586172104, 1.2931699752807617, 0.510581374168396, 0.05710158869624138, 1.2268550395965576, -0.11525393277406693, 0.8617610335350037, 1.2598289251327515, 0.5627055764198303, -1.1068696975708008, 0.5440802574157715, -0.00037226235144771636, -2.0392556052684085e-06, 0.04378054291009903, -0.7021228671073914], "std": [0.05181990936398506, 0.02936546690762043, 0.017169339582324028, 0.05549991503357887, 0.05376019701361656, 0.14655505120754242, 0.09798772633075714, 0.11622559279203415, 0.025926999747753143, 0.041024450212717056, 0.04489615559577942, 0.061530791223049164, 0.06875652819871902, 0.02136581391096115, 0.004178771283477545, 0.004471366759389639, 0.1129513680934906, 0.04518560692667961, 0.013743302784860134, 0.009393591433763504, 0.04143211245536804, 0.053418125957250595, 0.003050620900467038, 0.00464173499494791, 0.043461065739393234, 0.026565875858068466, 0.05423740670084953, 0.0037069963291287422, 0.004194939974695444, 0.11507689207792282, 0.17048488557338715, 0.019164416939020157, 0.2153121531009674, 0.416347473859787, 0.13429901003837585, 0.18183676898479462, 0.14996440708637238, 0.0685589388012886, 0.1147945374250412, 0.0807821974158287, 0.10829237848520279, 0.17465569078922272, 0.03097032569348812, 0.1512233316898346, 0.0791490226984024, 0.20256195962429047, 0.03921951353549957, 0.21813108026981354, 0.030719881877303123, 0.21873943507671356, 0.052885156124830246, 0.24368974566459656, 0.1733037531375885, 0.022248733788728714, 0.2058672457933426, 0.0571281723678112, 0.24151933193206787, 0.22365659475326538, 4.2781277443282306e-05, 4.731090666609816e-05, 7.029108382994309e-05, 0.00013969899737276137, 1.7521902918815613e-05, 0.01602216437458992, 0.025168972089886665], "count": [3338]}, "observation.state.joint_torque": {"min": [-44.43000030517578, -6.57450008392334, -23.371000289916992, -7.723999977111816, -0.6128000020980835, -1.3464000225067139, 0.951200008392334, -0.517052173614502, -0.29927897453308105, -0.44364020228385925, -0.3293127417564392, -0.1328205019235611, -0.3924208879470825, -0.4327183961868286, -0.08633331209421158, -0.04138316959142685, -0.528664767742157, -0.30415016412734985, -0.12285894900560379, -0.03496164828538895, -0.27824461460113525, -0.45574551820755005, -0.0531281977891922, -0.03424813970923424, -0.09279802441596985, -0.1352844536304474, -0.6092597842216492, -0.08633331209421158, -0.027826614677906036, 3.4605000019073486, -4.650000095367432, -7.269999980926514, -7.247000217437744, -3.180799961090088, -4.404799938201904, -3.3024001121520996, -1.9535911083221436, -0.7106283903121948, -0.9108913540840149, -1.055043339729309, -0.220814049243927, -0.6764222383499146, -0.8663961887359619, -0.17432688176631927, -0.06136125698685646, -0.6879358291625977, -0.8462474942207336, -0.13448072969913483, -0.03139413148164749, -0.6274896264076233, -0.364596426486969, -0.10459613054990768, -0.04923170804977417, -0.13545873761177063, -0.7109630107879639, -0.46054282784461975, -0.6292370557785034, -0.050658710300922394, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.697500228881836, 11.212499618530273, -9.513999938964844, 3.7269999980926514, 1.5351999998092651, 1.1424000263214111, 3.335200071334839, 0.37569060921669006, 0.35022008419036865, 0.4163009822368622, 0.32061392068862915, 0.11953844130039215, 0.36747482419013977, 0.2955150008201599, 0.0796922892332077, 0.01712406985461712, 0.33485302329063416, 0.29263657331466675, 0.13448072969913483, 0.014270060695707798, 0.3578801453113556, 0.4403941035270691, 0.11123716086149216, 0.014983562752604485, 0.05717414245009422, 0.23027141392230988, 0.4077722728252411, 0.05146794021129608, 0.013556556776165962, 38.834999084472656, 12.667499542236328, 19.268999099731445, 3.8010001182556152, 0.42160001397132874, 3.093600034713745, 6.257599830627441, 2.3789494037628174, 5.013877868652344, 2.343712568283081, 1.570759654045105, 0.6425191164016724, 2.1491997241973877, 2.1405646800994873, 1.0592433214187622, 0.21405088901519775, 1.2233169078826904, 0.2724878489971161, 0.31378841400146484, 0.0699232965707779, 1.0295051336288452, 0.2792041003704071, 0.26232045888900757, 0.18836477398872375, 0.12534332275390625, 0.680260181427002, 0.6150166392326355, 0.26066020131111145, 0.06849627941846848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.106386184692383, 2.110628843307495, -12.979787826538086, -2.3156023025512695, -0.24720902740955353, -0.6251865029335022, 1.520301103591919, 0.00029492363682948053, -0.0026130597107112408, 0.03591637685894966, 0.009448225609958172, 0.0004839517641812563, 0.028648557141423225, 0.022127237170934677, 0.00026062759570777416, 0.0002684715436771512, 0.03938208147883415, 0.0004665054439101368, 0.0036602329928427935, 0.0003441406006459147, 0.040844570845365524, 0.04958489164710045, 0.0004516211920417845, -0.0015730015002191067, -0.0029804459773004055, 0.018912196159362793, 0.03321794793009758, 0.0009082172182388604, -5.1087059546262026e-05, 26.51280975341797, 1.1981744766235352, 12.26231861114502, -1.4674957990646362, -0.44521045684814453, 1.226412296295166, -0.8349536061286926, 0.41949307918548584, 1.85255765914917, 0.44166100025177, 0.16772109270095825, 0.17016096413135529, 1.061749815940857, -0.06630773097276688, 0.5656569600105286, 0.12389392405748367, -0.01091165840625763, -0.06930214911699295, 0.0028877996373921633, 0.001494552125222981, 0.004264994524419308, -0.02061609737575054, 0.003153401892632246, -0.0015110097592696548, 0.0010191334877163172, -0.00705197686329484, -0.017357731238007545, -0.015639610588550568, 0.003213970921933651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9535616636276245, 0.8692061305046082, 0.6305571794509888, 0.7316835522651672, 0.29686951637268066, 0.33592721819877625, 0.19280602037906647, 0.03365949168801308, 0.021189145743846893, 0.06201554462313652, 0.052477095276117325, 0.008025486953556538, 0.06450837105512619, 0.04976743459701538, 0.006345909554511309, 0.0034911436960101128, 0.06435941904783249, 0.05752144753932953, 0.015975071117281914, 0.004054365213960409, 0.05914375185966492, 0.07942267507314682, 0.0062311552464962006, 0.005800954531878233, 0.010165229439735413, 0.033626556396484375, 0.06584858894348145, 0.005304087419062853, 0.0033973793033510447, 4.972677230834961, 1.8802651166915894, 2.8312408924102783, 1.799696922302246, 0.4088299572467804, 0.9582197666168213, 0.8129590749740601, 0.7999057173728943, 1.7813537120819092, 0.49937260150909424, 0.3480381369590759, 0.17448700964450836, 0.9466201066970825, 0.3104040324687958, 0.4904114305973053, 0.10379525274038315, 0.11280547082424164, 0.1466498076915741, 0.026833847165107727, 0.0076880427077412605, 0.071822889149189, 0.07018467038869858, 0.025964654982089996, 0.00939908716827631, 0.022035865113139153, 0.12575869262218475, 0.10691329836845398, 0.045181870460510254, 0.0071166446432471275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3338]}, "observation.state.tcp": {"min": [0.3495529592037201, 0.18695521354675293, 0.939710259437561, -1.4439364671707153, 1.2187042236328125, -1.7809398174285889, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24892404675483704, -0.2985171377658844, 0.9582207202911377, -0.7403709888458252, 1.2180691957473755, 0.3766971826553345, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41341519355773926, 0.24110227823257446, 1.0568434000015259, -1.1956586837768555, 2.1428890228271484, -1.2299022674560547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4836627244949341, -0.07031888514757156, 1.1695407629013062, 1.2085576057434082, 2.1555566787719727, 1.6189333200454712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38158196210861206, 0.2006773054599762, 0.9724070429801941, -1.3236662149429321, 1.9083088636398315, -1.631349802017212, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.400592565536499, -0.1594882309436798, 1.0513861179351807, -0.22332435846328735, 1.8293894529342651, 0.7368060350418091, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01614784076809883, 0.00829641055315733, 0.026429463177919388, 0.051220040768384933, 0.1672067791223526, 0.07559489458799362, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05576572194695473, 0.04794914275407791, 0.05120334401726723, 0.4363664388656616, 0.15140923857688904, 0.24619026482105255, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3338]}, "action": {"min": [1.0506906509399414, -0.8540766835212708, -0.22415295243263245, 1.1446561813354492, 0.0005703506758436561, -0.765192985534668, 0.10112267732620239, 0.0, 0.0, -0.274154394865036, 0.0, 0.0, 0.0, -0.02237199805676937, 0.0, 0.0, 0.0, -0.04417315125465393, 0.0, 0.0, 0.0, -0.05292957276105881, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0353444814682007, -1.1446385383605957, -0.24254286289215088, 0.9716138243675232, -1.7363215684890747, -0.7699999809265137, -0.23072944581508636, 0.0, -0.127017542719841, -0.23625800013542175, -0.2698080539703369, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.08613242954015732, 0.0, 0.0, 0.0, -0.14388640224933624, 0.0, 0.0, -7.2875367962410564e-09, 0.0, -0.16600210964679718, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439884066581726, -0.0007044267258606851, -0.0001746493362588808, -3.619537219740136e-18, -0.7540267705917358], "max": [1.2705984115600586, -0.6295761466026306, -0.0016695723170414567, 1.5690134763717651, 0.21609000861644745, 0.29764610528945923, 0.5241043567657471, 1.42378568649292, 0.2936044931411743, 0.0, 0.2850245237350464, 0.6807454228401184, 0.5510879158973694, 0.1640840321779251, 0.04735707864165306, 0.04496965557336807, 0.4616994559764862, 0.2654808759689331, 0.06133556365966797, 0.04504912719130516, 0.1224714145064354, 0.2744550406932831, 0.018809160217642784, 0.018198855221271515, 0.26180002093315125, 0.09588394314050674, 0.281602680683136, 0.021737879142165184, 0.0201581884175539, 1.5322113037109375, -0.3565240204334259, 0.0, 1.850427269935608, 0.1391012966632843, 0.08770667761564255, 0.7699059844017029, 1.4379123449325562, 0.302231103181839, 0.4146214723587036, 0.26386404037475586, 0.48004740476608276, 1.1342462301254272, 0.22782963514328003, 0.7090736031532288, 0.6180368661880493, 1.4670512676239014, 0.29165253043174744, 1.401607871055603, 0.47513487935066223, 1.4166855812072754, 0.30023205280303955, 1.5618534088134766, 0.9274585247039795, 0.26180002093315125, 1.3380910158157349, 0.2987579107284546, 1.5124852657318115, 1.400300145149231, 0.5626999735832214, -1.106863021850586, 0.5442359447479248, 0.0004224078729748726, 4.248783443472348e-05, 0.07599490880966187, -0.6000000238418579], "mean": [1.1216590404510498, -0.6739640235900879, -0.22221285104751587, 1.199347734451294, 0.1156357005238533, 0.15886330604553223, 0.2370484471321106, 1.372882604598999, 0.2892846167087555, -0.10734738409519196, 0.22024372220039368, 0.6628651022911072, 0.45359811186790466, 0.14773574471473694, 0.042161401361227036, 0.03964635729789734, 0.31926292181015015, 0.22412587702274323, 0.04737534001469612, 0.03520086407661438, 0.04806064814329147, 0.2249695360660553, 0.008335697464644909, 0.008118444122374058, 0.22366781532764435, 0.01988927461206913, 0.22954976558685303, 0.005202972795814276, 0.0050340862944722176, 1.28005051612854, -0.6397063136100769, -0.23689307272434235, 1.2964969873428345, -1.2530239820480347, -0.17260676622390747, 0.04893040284514427, 1.2877565622329712, 0.12855251133441925, 0.035947468131780624, -0.10719139873981476, 0.19508665800094604, 0.8086232542991638, 0.09173014760017395, 0.3006903827190399, 0.22171664237976074, 1.2550032138824463, -0.03255882114171982, 1.1450014114379883, 0.12003043293952942, 1.3315249681472778, -0.09613972157239914, 1.29400634765625, 0.5111719369888306, 0.055832598358392715, 1.2255315780639648, -0.11589164286851883, 0.8606390953063965, 1.283959984779358, 0.5627108812332153, -1.1068819761276245, 0.5441710352897644, -0.00040455060661770403, -3.5187292724003782e-06, 0.043824926018714905, -0.7021329998970032], "std": [0.051862090826034546, 0.029603762552142143, 0.017074769362807274, 0.055572304874658585, 0.05375424399971962, 0.14697466790676117, 0.0982600599527359, 0.13109277188777924, 0.02909502573311329, 0.04223509132862091, 0.04674934968352318, 0.06774372607469559, 0.07005404680967331, 0.022098487243056297, 0.0052603078074753284, 0.0050804028287529945, 0.11337609589099884, 0.04436907172203064, 0.014141619205474854, 0.009687492623925209, 0.04282154142856598, 0.052321676164865494, 0.006867954507470131, 0.006668024696409702, 0.053851641714572906, 0.02782830223441124, 0.05447190999984741, 0.006583233829587698, 0.0063208648934960365, 0.11532365530729294, 0.17117977142333984, 0.019036900252103806, 0.21577630937099457, 0.41604843735694885, 0.13460567593574524, 0.18296648561954498, 0.15686431527137756, 0.073368601500988, 0.11507780849933624, 0.08171407878398895, 0.10965117067098618, 0.18456445634365082, 0.03083958849310875, 0.16102612018585205, 0.12866607308387756, 0.20381611585617065, 0.03956585004925728, 0.2186715453863144, 0.030901769176125526, 0.22001108527183533, 0.052319951355457306, 0.24472792446613312, 0.1748104691505432, 0.02584303356707096, 0.2067553848028183, 0.05706079304218292, 0.243792325258255, 0.22860771417617798, 2.7445032174000517e-05, 1.8928421923192218e-05, 1.9508781406329945e-05, 0.0001427205716026947, 2.382050661253743e-05, 0.01607833243906498, 0.025241384282708168], "count": [3338]}, "observation.state.tcp_pose": {"min": [0.3495529592037201, 0.18695521354675293, 0.939710259437561, -1.4439364671707153, 1.2187042236328125, -1.7809398174285889, 0.24892404675483704, -0.2985171377658844, 0.9582207202911377, -0.7403709888458252, 1.2180691957473755, 0.3766971826553345], "max": [0.41341519355773926, 0.24110227823257446, 1.0568434000015259, -1.1956586837768555, 2.1428890228271484, -1.2299022674560547, 0.4836627244949341, -0.07031888514757156, 1.1695407629013062, 1.2085576057434082, 2.1555566787719727, 1.6189333200454712], "mean": [0.38158196210861206, 0.2006773054599762, 0.9724070429801941, -1.3236662149429321, 1.9083088636398315, -1.631349802017212, 0.400592565536499, -0.1594882309436798, 1.0513861179351807, -0.22332435846328735, 1.8293894529342651, 0.7368060350418091], "std": [0.01614784076809883, 0.00829641055315733, 0.026429463177919388, 0.051220040768384933, 0.1672067791223526, 0.07559489458799362, 0.05576572194695473, 0.04794914275407791, 0.05120334401726723, 0.4363664388656616, 0.15140923857688904, 0.24619026482105255], "count": [3338]}, "action.tcp_pose": {"min": [0.34896937012672424, 0.1869622766971588, 0.9398359656333923, -1.4440193176269531, 1.2206315994262695, -1.7810696363449097, 0.24894030392169952, -0.30491214990615845, 0.9583815336227417, -0.740698516368866, 1.1942623853683472, 0.3769635558128357], "max": [0.41311115026474, 0.2411329448223114, 1.0570793151855469, -1.1949543952941895, 2.142791748046875, -1.2319046258926392, 0.483476459980011, -0.07023721933364868, 1.1699984073638916, 1.2088515758514404, 2.155508518218994, 1.649341106414795], "mean": [0.3816136419773102, 0.2007179856300354, 0.9724089503288269, -1.323676586151123, 1.9079318046569824, -1.6312808990478516, 0.4006626605987549, -0.15968270599842072, 1.0518330335617065, -0.2233315110206604, 1.8282157182693481, 0.7367348074913025], "std": [0.016146419569849968, 0.008338326588273048, 0.026485228911042213, 0.05127900838851929, 0.16763269901275635, 0.07579643279314041, 0.05578121542930603, 0.04813952371478081, 0.05141803249716759, 0.43558380007743835, 0.15295730531215668, 0.2464686781167984], "count": [3338]}, "subtask_index": {"min": [50], "max": [219], "mean": [192.00659077291792], "std": [26.616508834581236], "count": [3338]}, "observation.tactile": {"min": [-0.013226164504885674, -3.678138091345318e-05, -8.214426634367555e-05, -0.0017939594108611345, -0.00012937064457219094, -0.00022129822173155844, -0.11528196930885315, -4.859294858761132e-05, -0.00011220580199733377, -0.005665036384016275, -8.283677016152069e-05, -0.0030257264152169228, -0.009282587096095085, -4.6570447011617944e-05, -0.00010375722195021808, -0.0008805073448456824, -3.741090768016875e-05, -0.00017709349049255252, -0.020902158692479134, -3.6507524782791734e-05, -8.037287625484169e-05, -0.0017054581549018621, -1.7914833733811975e-05, -0.0004411551635712385, -0.0024036834947764874, -4.604895002557896e-05, -0.00010341461893403903, -0.000791593047324568, -6.340201252896804e-06, -5.684535062755458e-05, -1.8892920017242432, -4.2383355321362615e-05, -9.849221532931551e-05, -0.1987188309431076, -0.0044125402346253395, -0.0542038232088089, -7.245892524719238, -1.9354702234268188, -9.392641368322074e-05, -0.37411728501319885, -0.05390122905373573, -0.12527894973754883, -1.2047948837280273, -5.0231381464982405e-05, -0.0001117158099077642, -0.002982781268656254, -0.0004935787874273956, -0.013801803812384605, -0.014263931661844254, -5.832046736031771e-05, -0.0001323306350968778, -0.0015067405765876174, -5.0710415962385014e-05, -0.0003072170657105744, -0.2835995554924011, -4.408114909892902e-05, -9.854321251623333e-05, -0.0013846000656485558, -0.00022266199812293053, -0.004023272544145584], "max": [0.031145870685577393, 0.033301956951618195, 0.10001283138990402, 1.5845479310883093e-06, 0.0004750961670652032, 0.0005016903160139918, 0.02952456846833229, 0.11877059191465378, 0.2174675613641739, 1.9355366021045484e-06, 9.732875332701951e-05, 0.0007828348316252232, 0.005022998433560133, 0.01550727616995573, 0.04509697109460831, 1.9523088212736184e-06, 0.00017440406372770667, 3.883332828991115e-05, 0.02129300870001316, 0.030164971947669983, 0.08380608260631561, 1.4841905340290396e-06, 0.0003457160491961986, 0.0002633050607983023, 0.021261639893054962, 0.01548129040747881, 0.051592275500297546, 1.9356391476321733e-06, 0.00028064005891792476, 0.00024984110496006906, 6.620641231536865, 16.088930130004883, 11.64594841003418, 1.8262231833432452e-06, 0.05085569620132446, 0.11744052916765213, 32.54154968261719, 19.824918746948242, 23.225069046020508, 1.7517086234875023e-06, 0.012963958084583282, 0.5552542209625244, 0.011368897743523121, 0.14135873317718506, 0.23295028507709503, 2.0702541405626107e-06, 0.0020993798971176147, 9.831696661422029e-05, 0.01015732903033495, 0.026558611541986465, 0.07811696082353592, 2.3915679321362404e-06, 0.00023371797578874975, 0.00010857299639610574, 0.0016762849409133196, 0.048613540828228, 0.07437286525964737, 1.8306302536075236e-06, 0.00012661072832997888, 1.2515525668277405e-05], "mean": [-0.0008025472052395344, 0.0043540638871490955, 0.012862247414886951, -0.00021972409740556031, 1.546382554806769e-05, -1.5066656487761065e-05, -0.00020567401952575892, 0.0009312257752753794, 0.00240203645080328, -5.486912414198741e-05, 2.0491766861141514e-07, -6.893366844451521e-06, 5.173590761842206e-05, 0.000530516030266881, 0.0015780871035531163, -2.5695408112369478e-05, -6.594231081180624e-07, 2.1325049601728097e-06, -0.001634934451431036, 0.0025473248679190874, 0.00740158511325717, -0.0001389330718666315, 9.321992365585174e-06, -3.384533556527458e-05, 0.00030366447754204273, 0.0013919253833591938, 0.004003315232694149, -5.930603219894692e-05, 1.40587508212775e-05, 1.6351586964447051e-06, 2.3179237842559814, 3.0129358768463135, 4.7137837409973145, -0.08060111850500107, 0.012797524221241474, 0.03332017362117767, -1.40421462059021, 1.3930426836013794, 9.618163108825684, -0.14753592014312744, -0.008405289612710476, -0.022248342633247375, -0.009823940694332123, 0.004610131960362196, 0.012469173409044743, -0.00023507447622250766, 3.159989137202501e-05, -0.0001258346310351044, -0.0010815458372235298, 0.003822281723842025, 0.01108549628406763, -0.0002310021809535101, 1.243859514943324e-05, -2.7407591915107332e-05, -0.0014274384593591094, 0.0033026128076016903, 0.009435811080038548, -0.0002111669018631801, -1.3977500202599913e-05, -2.653974479471799e-05], "std": [0.0033594348933547735, 0.005184003617614508, 0.01528328750282526, 0.00027593623963184655, 5.079563561594114e-05, 5.2265986596466973e-05, 0.00517247011885047, 0.006346074864268303, 0.014318783767521381, 0.00037462980253621936, 6.711447895213496e-06, 0.00013539470091927797, 0.0007890850538387895, 0.0015522160101681948, 0.004537095315754414, 7.944097887957469e-05, 8.352767508768011e-06, 1.4563685908797197e-05, 0.0037505407817661762, 0.004985390696674585, 0.01445795502513647, 0.00027768636937253177, 2.2814403564552777e-05, 7.707183249294758e-05, 0.0011351910652592778, 0.0023496453650295734, 0.006870610173791647, 0.00010855047730728984, 2.7565780328586698e-05, 1.5885250832070597e-05, 2.2022805213928223, 2.7274301052093506, 3.9368934631347656, 0.06759849190711975, 0.012442465871572495, 0.036656592041254044, 3.3583383560180664, 2.49530029296875, 8.076190948486328, 0.12526312470436096, 0.010872457176446915, 0.05696943402290344, 0.07733887434005737, 0.010816631838679314, 0.022637980058789253, 0.0003289635933469981, 0.00011563817679416388, 0.0009017211268655956, 0.001919051632285118, 0.004799671936780214, 0.013852715492248535, 0.00029150539194233716, 2.3515263819717802e-05, 4.3205433030379936e-05, 0.0061162421479821205, 0.0028693419881165028, 0.007964345626533031, 0.0001775019190972671, 1.5804023860255256e-05, 9.242560918210074e-05], "count": [3338]}, "timestamp": {"min": [0.0], "max": [111.23333333333333], "mean": [55.616666666666674], "std": [32.11991853455838], "count": [3338]}, "frame_index": {"min": [0], "max": [3337], "mean": [1668.5], "std": [963.5975560367513], "count": [3338]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [3338]}, "index": {"min": [7848], "max": [11185], "mean": [9516.5], "std": [963.5975560367513], "count": [3338]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3338]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5698177218437195]], [[0.5696641802787781]], [[0.5697833299636841]]], "std": [[[0.2978344261646271]], [[0.29784443974494934]], [[0.29847514629364014]]], "count": [3338]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.303011029958725]], [[0.3054984211921692]], [[0.3038667142391205]]], "std": [[[0.18356652557849884]], [[0.18396279215812683]], [[0.1839219629764557]]], "count": [3338]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30907005071640015]], [[0.312267929315567]], [[0.30871886014938354]]], "std": [[[0.1818585991859436]], [[0.1818227916955948]], [[0.18025004863739014]]], "count": [3338]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5709514021873474]], [[0.5709038972854614]], [[0.5707337260246277]]], "std": [[[0.30231428146362305]], [[0.3021673262119293]], [[0.3030969500541687]]], "count": [3338]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6627451181411743]], [[0.6627451181411743]], [[0.6627451181411743]]], "mean": [[[0.0048871031031012535]], [[0.0048871031031012535]], [[0.0048871031031012535]]], "std": [[[0.043693359941244125]], [[0.043693359941244125]], [[0.043693359941244125]]], "count": [3338]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4896831214427948]], [[0.4896831214427948]], [[0.4896831214427948]]], "std": [[[0.22108738124370575]], [[0.22108738124370575]], [[0.22108738124370575]]], "count": [3338]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [1.0506335496902466, -0.7793872952461243, -0.22415797412395477, 0.9265864491462708, -0.10822629928588867, -0.7667641639709473, 0.34388747811317444, 0.006708176340907812, -0.00030100790900178254, -0.2652265727519989, 0.0001479244529036805, 0.0034998899791389704, 0.003645614255219698, -0.041051365435123444, 0.0034899625461548567, 0.0008340784697793424, 0.00952383317053318, -0.03099323995411396, 0.00689412048086524, 0.0008509285398758948, -0.003309043124318123, -0.0018354407511651516, 0.006813989486545324, 0.0008425034466199577, 0.005930800456553698, -0.0028655121568590403, 0.004398483317345381, 0.006017995998263359, 0.0008708825334906578, 0.947112500667572, -1.1478257179260254, -0.24341781437397003, 1.0024396181106567, -1.734508991241455, -0.7679728269577026, -0.09589213132858276, 0.005474332720041275, -0.09718974679708481, -0.22775907814502716, -0.1675417125225067, 0.0032587875612080097, 0.005335583817213774, -0.030826671048998833, 0.0035725755151361227, 0.000828313990496099, 0.005476393736898899, -0.06609991937875748, 0.004406507592648268, 0.0008686654036864638, -0.0007425647927448153, -0.13208775222301483, 0.0038973551709204912, 0.000868221977725625, 0.0067667425610125065, -0.0018913677195087075, -0.15544308722019196, 0.0052734133787453175, 0.0008420600206591189, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0007669904152862728, -9.58738019107841e-05, -0.025310682132840157, -0.7580741047859192], "max": [1.2784103155136108, -0.5153554677963257, -0.0013684786390513182, 1.567712664604187, 0.18377737700939178, 0.19225944578647614, 0.6981559991836548, 1.353798270225525, 0.29589566588401794, -0.0035200705751776695, 0.26189836859703064, 0.615635335445404, 0.40071311593055725, 0.13588443398475647, 0.03385472670197487, 0.036129653453826904, 0.25960421562194824, 0.2147136926651001, 0.0572434663772583, 0.03615005314350128, 0.05423552915453911, 0.2145795077085495, 0.0068756830878555775, 0.00843345932662487, 0.24861197173595428, 0.03627656400203705, 0.24092969298362732, 0.006064089015126228, 0.003764217020943761, 1.4322327375411987, -0.310486763715744, -0.0022700519766658545, 1.7867298126220703, 0.10046147555112839, -0.06309071183204651, 0.6981747150421143, 1.3613231182098389, 0.2501303255558014, 0.30526766180992126, 0.18796513974666595, 0.6164107322692871, 1.0014020204544067, 0.15727631747722626, 0.7359697222709656, 0.4599381685256958, 1.3428407907485962, 0.27664914727211, 1.2205017805099487, 0.5504607558250427, 1.415145993232727, 0.29643842577934265, 1.4693964719772339, 0.7401118278503418, 0.24975402653217316, 1.3811198472976685, 0.29861581325531006, 1.3356561660766602, 1.3101186752319336, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.09529855847358704, -0.5999782085418701], "mean": [1.1849793195724487, -0.5846722722053528, -0.22121335566043854, 1.066996455192566, 0.054116394370794296, 0.026931244879961014, 0.3990314304828644, 1.269730806350708, 0.2844245135784149, -0.16905702650547028, 0.1607235223054886, 0.5838111042976379, 0.37767037749290466, 0.12401200085878372, 0.032729052007198334, 0.033826395869255066, 0.23639148473739624, 0.19765320420265198, 0.05366337299346924, 0.03214864060282707, 0.042512550950050354, 0.1988837718963623, 0.006841711699962616, 0.007061577867716551, 0.06267261505126953, 0.027334319427609444, 0.21500441431999207, 0.006042030639946461, 0.0030308272689580917, 1.264644742012024, -0.59610515832901, -0.2260185182094574, 1.264940619468689, -1.3496750593185425, -0.27225515246391296, 0.082762211561203, 1.2517828941345215, 0.06892890483140945, 0.01422014832496643, -0.05532224103808403, 0.20564354956150055, 0.7692529559135437, 0.0955854058265686, 0.34243232011795044, 0.16557493805885315, 1.2341516017913818, -0.03760730102658272, 1.0826655626296997, 0.34755805134773254, 1.3275272846221924, -0.10151055455207825, 1.2791016101837158, 0.42232513427734375, 0.05338564142584801, 1.2653746604919434, -0.12065853178501129, 0.7883918285369873, 1.2394635677337646, 0.5626896023750305, -1.106852412223816, 0.54407799243927, -0.0004976317868568003, 4.308935075414411e-08, 0.06960723549127579, -0.7199033498764038], "std": [0.06078427657485008, 0.045798297971487045, 0.02094949223101139, 0.10197064280509949, 0.03221701458096504, 0.1553783416748047, 0.06983976811170578, 0.14790773391723633, 0.03177158161997795, 0.04198158532381058, 0.024768806993961334, 0.07938286662101746, 0.05794811621308327, 0.0269065722823143, 0.004344121553003788, 0.004959970247000456, 0.052203696221113205, 0.038583021610975266, 0.010389933362603188, 0.006165975704789162, 0.015154154039919376, 0.03900624439120293, 7.704684321652167e-06, 0.002053081290796399, 0.04812150448560715, 0.010704048909246922, 0.03203517943620682, 6.6697425609163474e-06, 0.0005830256850458682, 0.11651060730218887, 0.18036790192127228, 0.022409804165363312, 0.18754902482032776, 0.3194573223590851, 0.11948788166046143, 0.1285015493631363, 0.16965244710445404, 0.0595441609621048, 0.0657271146774292, 0.07013113051652908, 0.13164275884628296, 0.16543929278850555, 0.023717034608125687, 0.1500920206308365, 0.09674396365880966, 0.24028246104717255, 0.04138188064098358, 0.23751169443130493, 0.07941118627786636, 0.27985256910324097, 0.06478404253721237, 0.2885593771934509, 0.12725292146205902, 0.024411633610725403, 0.26914700865745544, 0.07451705634593964, 0.20688273012638092, 0.2792927026748657, 3.319953248137608e-05, 4.7023735533002764e-05, 3.878304414683953e-05, 0.00011950795305892825, 4.544669991446426e-06, 0.01855812408030033, 0.028996843844652176], "count": [2225]}, "observation.state.joint_torque": {"min": [-39.404998779296875, -7.170000076293945, -19.488000869750977, -7.182000160217285, -0.5655999779701233, -1.0872000455856323, 1.0679999589920044, -0.9016574621200562, -0.30309951305389404, -0.6151313185691833, -0.40884488821029663, -0.1593845784664154, -0.42216429114341736, -0.47013747692108154, -0.06308973580598831, -0.04281017929315567, -0.32813677191734314, -0.38666409254074097, -0.12119869887828827, -0.033534638583660126, -0.21971732378005981, -0.5344215631484985, -0.0016602561809122562, -0.03638865053653717, -0.10863086581230164, -0.14008179306983948, -0.42983996868133545, -0.0016602561809122562, -0.027826614677906036, 11.451000213623047, -3.990000009536743, 6.230999946594238, -7.126999855041504, -1.930400013923645, -1.0839999914169312, -3.3856000900268555, -1.2989981174468994, -0.7717577219009399, -0.5902775526046753, -0.9506575465202332, -0.2108525186777115, -0.49124565720558167, -1.011275291442871, -0.23575636744499207, -0.05565322935581207, -1.3355742692947388, -0.6284490823745728, -0.60931396484375, -0.0699232965707779, -1.1427218914031982, -0.4260021150112152, -0.6076537370681763, -0.06920978426933289, -0.161407008767128, -1.2281142473220825, -0.47973212599754333, -0.6325575709342957, -0.0956093966960907, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.640499114990234, 12.951000213623047, -10.1899995803833, 6.031000137329102, 1.983199954032898, 1.3095999956130981, 3.0248000621795654, 1.124524712562561, 0.27508193254470825, 0.36410805583000183, 0.29078933596611023, 0.19757047295570374, 0.5689623355865479, 0.2868798077106476, 0.09961536526679993, 0.015697065740823746, 0.3502044379711151, 0.2465822994709015, 0.13116022944450378, 0.01783757284283638, 0.26385265588760376, 0.3674747943878174, 0.0016602561809122562, 0.012843053787946701, 0.07520598918199539, 0.17846035957336426, 0.4375156760215759, 0.0016602561809122562, 0.010702544823288918, 37.65449905395508, 11.817000389099121, 21.121000289916992, 2.138000011444092, 0.492000013589859, 3.2088000774383545, 0.6848000288009644, 2.5368666648864746, 4.698042869567871, 2.690423011779785, 1.4303357601165771, 0.7039486169815063, 2.149199962615967, 0.4192858338356018, 1.0575830936431885, 0.21476440131664276, 0.8040310144424438, 0.3713126480579376, 0.18096791207790375, 0.025686107575893402, 1.00455904006958, 0.3195015788078308, 0.2905448377132416, 0.025686107575893402, 0.11478808522224426, 0.8539231419563293, 0.4634212255477905, 0.2108525186777115, 0.05993425101041794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.78464126586914, 1.4172108173370361, -12.769404411315918, -1.1826071739196777, -0.05952680483460426, -0.2231570929288864, 1.7712329626083374, 0.003857790492475033, -0.003192691598087549, 0.023003438487648964, -0.00014353929145727307, 0.0018520286539569497, 0.0031422972679138184, 0.005359616130590439, 0.00043129397090524435, 0.0003921844472642988, -0.0014588184421882033, 0.007112980354577303, 0.0006484332261607051, 5.6117558415280655e-05, 0.01022938173264265, 0.008665768429636955, 2.2385477222996997e-06, -0.0007580767851322889, -0.0032831912394613028, 0.004274258855730295, 0.00826730765402317, -1.4923650724085746e-06, -0.00023730013344902545, 27.721277236938477, 0.6859555840492249, 12.889593124389648, -1.7097883224487305, -0.318541944026947, 1.5227373838424683, -0.9568575620651245, 0.28853726387023926, 1.3667715787887573, 0.3694947361946106, 0.2000342160463333, 0.13162672519683838, 0.7980725765228271, -0.2197200506925583, 0.3870505094528198, 0.10688575357198715, -0.009138409048318863, -0.06359022855758667, 0.0036816701758652925, 0.000993447843939066, 0.013147466816008091, -0.018188441172242165, -0.0005812760209664702, -0.001837786752730608, 0.0007906539249233902, 0.015651091933250427, -0.01051443163305521, -0.0067335572093725204, 0.0016392971156165004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8230453729629517, 0.9862053394317627, 0.8963232636451721, 0.732987105846405, 0.26076540350914, 0.35262730717658997, 0.18574760854244232, 0.04721307381987572, 0.02368653565645218, 0.07474714517593384, 0.06490546464920044, 0.012540209107100964, 0.0675230547785759, 0.06256810575723648, 0.007460345514118671, 0.0061430418863892555, 0.04501515254378319, 0.04327239468693733, 0.016647182404994965, 0.004406295716762543, 0.03937394171953201, 0.07643263787031174, 0.00015340502432081848, 0.0045004552230238914, 0.013264888897538185, 0.024437524378299713, 0.06918492168188095, 7.037720934022218e-05, 0.0025619189254939556, 4.097774505615234, 1.9814002513885498, 1.439184308052063, 1.7089591026306152, 0.27456000447273254, 0.557083785533905, 0.4436205327510834, 0.6709976196289062, 1.5113236904144287, 0.5172662138938904, 0.37978917360305786, 0.1663564294576645, 0.854068398475647, 0.34577444195747375, 0.41363412141799927, 0.10257653146982193, 0.10047611594200134, 0.12522995471954346, 0.027136005461215973, 0.007917961105704308, 0.07145806401968002, 0.07813756167888641, 0.02633402682840824, 0.009665687568485737, 0.01856190711259842, 0.11843474209308624, 0.10265231132507324, 0.042716123163700104, 0.006249588448554277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2225]}, "observation.state.tcp": {"min": [0.3619557023048401, 0.18903012573719025, 0.9516441226005554, -1.2594072818756104, 1.2192060947418213, -1.6394052505493164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23789677023887634, -0.29502251744270325, 0.9472476840019226, -0.7509360313415527, 1.2205923795700073, 0.5442527532577515, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4402684271335602, 0.22609880566596985, 1.0663824081420898, -0.8685171008110046, 1.8049921989440918, -1.2087228298187256, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47205042839050293, -0.05271846428513527, 1.1515496969223022, 1.2101905345916748, 1.9467108249664307, 1.6561635732650757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4287557005882263, 0.2001626342535019, 1.0093954801559448, -1.1290010213851929, 1.656762957572937, -1.5730056762695312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4019921123981476, -0.1417500376701355, 1.0537160634994507, -0.3220633268356323, 1.7300111055374146, 0.7511892318725586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010496123693883419, 0.007030172273516655, 0.03325119614601135, 0.05867082625627518, 0.12223964184522629, 0.0622437410056591, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.055356286466121674, 0.05901886522769928, 0.052936892956495285, 0.32846418023109436, 0.13848641514778137, 0.1760132759809494, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2225]}, "action": {"min": [1.0499999523162842, -0.7799999713897705, -0.22415295243263245, 0.926630437374115, -0.1082647517323494, -0.7699999809265137, 0.3439001441001892, 0.0, 0.0, -0.27293282747268677, 0.0, 0.0, 0.0, -0.04514474421739578, 0.0, 0.0, 0.0, -0.04078900068998337, 0.0, 0.0, 0.0, -0.013272232376039028, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9471473097801208, -1.1489771604537964, -0.2434215098619461, 1.0024384260177612, -1.734515905380249, -0.7647944092750549, -0.09592167288064957, 0.0, -0.09744498878717422, -0.2277132272720337, -0.16426323354244232, 0.0, 0.0, -0.04437733441591263, 0.0, 0.0, 0.0, -0.06798826903104782, 0.0, 0.0, 0.0, -0.13380029797554016, 0.0, 0.0, -8.486348512803943e-09, 0.0, -0.15481814742088318, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0007641142001375556, -1.2122733096475713e-05, -0.025139959529042244, -0.7580874562263489], "max": [1.2794036865234375, -0.5153496861457825, 0.0, 1.5700000524520874, 0.18417301774024963, 0.1922609657049179, 0.7080992460250854, 1.363317608833313, 0.29339510202407837, 0.0, 0.27533847093582153, 0.6241844892501831, 0.4049184322357178, 0.14013738930225372, 0.03929045423865318, 0.037874478846788406, 0.2658136785030365, 0.21494930982589722, 0.061729833483695984, 0.03737150877714157, 0.05074051767587662, 0.22537395358085632, 0.01366144884377718, 0.012375139631330967, 0.26180002093315125, 0.03847270831465721, 0.247349813580513, 0.009398896247148514, 0.009210312739014626, 1.4322429895401, -0.31039726734161377, -0.0018218696350231767, 1.7870949506759644, 0.09974760562181473, -0.06292129307985306, 0.7450059056282043, 1.3659802675247192, 0.25724321603775024, 0.3180805742740631, 0.19141992926597595, 0.6293056011199951, 1.0611134767532349, 0.16214889287948608, 0.7444888353347778, 0.456784725189209, 1.3682570457458496, 0.2786540985107422, 1.2239153385162354, 0.5515286922454834, 1.4590210914611816, 0.2990786135196686, 1.4739001989364624, 0.7409476041793823, 0.26180002093315125, 1.3859033584594727, 0.2996537983417511, 1.3421696424484253, 1.3834292888641357, 0.5626999735832214, -1.106863021850586, 0.544202446937561, 1.4668440654429723e-21, 1.2522497854661196e-05, 0.09604291617870331, -0.6000000238418579], "mean": [1.1850794553756714, -0.5846909880638123, -0.22123447060585022, 1.067061424255371, 0.05410178378224373, 0.026795130223035812, 0.3991985619068146, 1.277735948562622, 0.2849815785884857, -0.16778753697872162, 0.1600433737039566, 0.5904325246810913, 0.37915879487991333, 0.12582014501094818, 0.037188246846199036, 0.03596879914402962, 0.23588839173316956, 0.19988113641738892, 0.053861524909734726, 0.03426000475883484, 0.04219524562358856, 0.20445261895656586, 0.01160463783890009, 0.01053124200552702, 0.07120587676763535, 0.026625588536262512, 0.22078034281730652, 0.006820935755968094, 0.006721790414303541, 1.2661484479904175, -0.5970369577407837, -0.22606049478054047, 1.265649437904358, -1.3495293855667114, -0.2722150981426239, 0.0832396000623703, 1.251353144645691, 0.07345210760831833, 0.0142733845859766, -0.05421910807490349, 0.20583732426166534, 0.7860674858093262, 0.0823509618639946, 0.34481075406074524, 0.21288208663463593, 1.2332918643951416, -0.03716418892145157, 1.082038164138794, 0.3476424515247345, 1.3268873691558838, -0.10151105374097824, 1.27836275100708, 0.4221107065677643, 0.052059464156627655, 1.264650583267212, -0.12070439010858536, 0.7873309254646301, 1.2872579097747803, 0.5626934766769409, -1.1068562269210815, 0.5441431403160095, -0.0005431434256024659, 4.945210321238847e-07, 0.06964164227247238, -0.7199547290802002], "std": [0.06077397242188454, 0.04579427093267441, 0.02086724154651165, 0.10198759287595749, 0.032237011939287186, 0.15565025806427002, 0.07031123340129852, 0.16393926739692688, 0.03582144156098366, 0.04545658454298973, 0.02787790074944496, 0.08285503089427948, 0.05930066853761673, 0.026794571429491043, 0.005442873574793339, 0.005201117135584354, 0.05250195786356926, 0.03808277100324631, 0.010202454403042793, 0.006236071698367596, 0.014953519217669964, 0.039507102221250534, 0.0040202452801167965, 0.003642468247562647, 0.0495113730430603, 0.010238107293844223, 0.03403457626700401, 0.0025208513252437115, 0.0024797185324132442, 0.11660812795162201, 0.18113082647323608, 0.022252358496189117, 0.18807315826416016, 0.3212394714355469, 0.1198023185133934, 0.13052476942539215, 0.17878402769565582, 0.06340714544057846, 0.06720886379480362, 0.0692829117178917, 0.1333216428756714, 0.1796165108680725, 0.03041754476726055, 0.15152952075004578, 0.13195475935935974, 0.24153301119804382, 0.04154999926686287, 0.23768077790737152, 0.07968804985284805, 0.2804861068725586, 0.06497050821781158, 0.2891950309276581, 0.12745358049869537, 0.02939414419233799, 0.2695853114128113, 0.07482876628637314, 0.2076854109764099, 0.29191601276397705, 1.174010776594514e-05, 1.0426369044580497e-05, 1.660291491134558e-05, 0.00011054096830775961, 5.424395112640923e-06, 0.018615810200572014, 0.02910531684756279], "count": [2225]}, "observation.state.tcp_pose": {"min": [0.3619557023048401, 0.18903012573719025, 0.9516441226005554, -1.2594072818756104, 1.2192060947418213, -1.6394052505493164, 0.23789677023887634, -0.29502251744270325, 0.9472476840019226, -0.7509360313415527, 1.2205923795700073, 0.5442527532577515], "max": [0.4402684271335602, 0.22609880566596985, 1.0663824081420898, -0.8685171008110046, 1.8049921989440918, -1.2087228298187256, 0.47205042839050293, -0.05271846428513527, 1.1515496969223022, 1.2101905345916748, 1.9467108249664307, 1.6561635732650757], "mean": [0.4287557005882263, 0.2001626342535019, 1.0093954801559448, -1.1290010213851929, 1.656762957572937, -1.5730056762695312, 0.4019921123981476, -0.1417500376701355, 1.0537160634994507, -0.3220633268356323, 1.7300111055374146, 0.7511892318725586], "std": [0.010496123693883419, 0.007030172273516655, 0.03325119614601135, 0.05867082625627518, 0.12223964184522629, 0.0622437410056591, 0.055356286466121674, 0.05901886522769928, 0.052936892956495285, 0.32846418023109436, 0.13848641514778137, 0.1760132759809494], "count": [2225]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.18904660642147064, 0.9516082406044006, -1.249194622039795, 1.2178406715393066, -1.6393028497695923, 0.23594388365745544, -0.2965547442436218, 0.9470890164375305, -0.7508738040924072, 1.2188060283660889, 0.5443167686462402], "max": [0.44028809666633606, 0.22613421082496643, 1.0663310289382935, -0.8687893748283386, 1.8059985637664795, -1.2098066806793213, 0.47205108404159546, -0.05272546410560608, 1.1521661281585693, 1.2073267698287964, 1.946804404258728, 1.670358657836914], "mean": [0.42877838015556335, 0.20016281306743622, 1.0094146728515625, -1.1288914680480957, 1.6565430164337158, -1.5730725526809692, 0.40215879678726196, -0.14201784133911133, 1.0544804334640503, -0.3223630487918854, 1.7278004884719849, 0.7513096332550049], "std": [0.010460187681019306, 0.007041976321488619, 0.03329143673181534, 0.058738552033901215, 0.12265636771917343, 0.06207062304019928, 0.055310916155576706, 0.05927169322967529, 0.053193386644124985, 0.3293352723121643, 0.14121636748313904, 0.1781511902809143], "count": [2225]}, "subtask_index": {"min": [50], "max": [276], "mean": [240.59865168539326], "std": [37.43259767860848], "count": [2225]}, "observation.tactile": {"min": [-0.015947123989462852, -3.8721191231161356e-05, -8.37353290989995e-05, -0.0011708743404597044, -6.353270873660222e-05, -0.0002907020680140704, -0.004614922683686018, -4.525371696217917e-05, -9.844684245763347e-05, -0.001031482475809753, -1.1599557183217257e-05, -0.00011599122080951929, -0.014999493025243282, -4.880360938841477e-05, -0.0001086773700080812, -0.0009762559202499688, -2.4618944735266268e-05, -0.0002943531144410372, -0.015736380591988564, -3.492839459795505e-05, -7.509758870583028e-05, -0.0013692991342395544, -3.274960181443021e-05, -0.0003667634155135602, -0.010727860033512115, -4.8835976485861465e-05, -0.0001102051101042889, -0.0009930209489539266, -8.231791434809566e-05, -0.00023887264251243323, -1.9929274320602417, -3.881007796735503e-05, -8.915288344724104e-05, -0.20138105750083923, -0.01029297336935997, -0.042150117456912994, -5.477081775665283, -0.39306536316871643, -9.987632802221924e-05, -0.21544204652309418, -0.017838504165410995, -0.08886579424142838, -0.0036382880061864853, -4.993757465854287e-05, -0.00011194641410838813, -0.0011408035643398762, -3.839798955596052e-05, -8.028643060242757e-05, -0.01609957404434681, -5.542620783671737e-05, -0.00012550405517686158, -0.003619353286921978, -5.4010226449463516e-05, -0.0003665826516225934, -0.3807404339313507, -4.106014966964722e-05, -9.149465768132359e-05, -0.0013717011315748096, -0.00026706172502599657, -0.0055669150315225124], "max": [0.004206652753055096, 0.01825880818068981, 0.05357879027724266, 1.581895617164264e-06, 0.0002079457917716354, 1.1052912668674253e-05, 0.027483172714710236, 0.020681289955973625, 0.061914946883916855, 1.6905919437704142e-06, 0.0003086596552748233, 0.0003567426756490022, 0.0004993518232367933, 0.0173052866011858, 0.050533782690763474, 2.044154825853184e-06, 9.438360575586557e-05, 8.029091986827552e-06, 0.002205782802775502, 0.02472635544836521, 0.06707238405942917, 1.4058132364880294e-06, 0.00012694831821136177, 6.6281509134569205e-06, 0.0003882641904056072, 0.01807890087366104, 0.050877396017313004, 2.0455083813430974e-06, 6.539091555168852e-05, 8.1265843618894e-06, 5.499515533447266, 7.934582710266113, 10.862398147583008, 1.648481770644139e-06, 0.03255253657698631, 0.08236627280712128, 0.0007430184632539749, 6.19296407699585, 13.185881614685059, 1.8948483102576574e-06, 0.01072128489613533, 2.457902519381605e-05, 0.004803916905075312, 0.015696119517087936, 0.04620698466897011, 2.0428392417670693e-06, 0.00015394635556731373, 5.355603207135573e-05, 0.11077144742012024, 0.06196245178580284, 0.19975578784942627, 2.2802169041824527e-06, 0.0012283646501600742, 0.0016466440865769982, 0.003077675122767687, 0.05147812142968178, 0.08807212859392166, 1.6651522400934482e-06, 0.0003749297757167369, 4.0370090573560447e-05], "mean": [-9.347520244773477e-05, 0.00046391974319703877, 0.0015064150793477893, -2.549661985540297e-05, 1.1571445384106482e-06, -1.2520680456873379e-06, 0.0002533808583393693, 0.00029080387321300805, 0.0008834064356051385, -1.5506508134421892e-05, 2.048398755505332e-06, 3.6367150642035995e-06, -0.0002927672176156193, 0.001156961196102202, 0.003388476325199008, -6.0978483816143125e-05, 2.054313654298312e-06, -5.607494131254498e-06, -0.00029568406171165407, 0.0008959039696492255, 0.0025914057623595, -4.867120151175186e-05, 3.0420824259635992e-06, -6.6212378442287445e-06, -0.0010463601211085916, 0.00217246706597507, 0.006417782511562109, -0.00012788204185198992, -5.622083790512988e-06, -2.0343615688034333e-05, 1.3151576519012451, 2.226716995239258, 4.142699241638184, -0.0773579403758049, 0.00691395765170455, 0.0210723914206028, -1.8294453620910645, 1.094232201576233, 4.573694229125977, -0.07579833269119263, -0.002471391810104251, -0.029869234189391136, 3.923414260498248e-05, 0.0014486163854599, 0.004354012198746204, -8.45368776936084e-05, 1.1383971468603704e-05, -3.5854186535289045e-06, -0.0022318053524941206, 0.007298420183360577, 0.02112145908176899, -0.00044436808093450963, 1.5847133909119293e-05, -5.267963933874853e-05, -0.0015002890722826123, 0.0024634746368974447, 0.00700727291405201, -0.00015085385530255735, 7.4193217187712435e-06, -2.8127948098699562e-05], "std": [0.001362991170026362, 0.0016738100675866008, 0.005253860726952553, 9.307757864007726e-05, 1.4596748769690748e-05, 2.4904089514166117e-05, 0.0011417240602895617, 0.0012760729296132922, 0.0037997316103428602, 6.634378951275721e-05, 1.8631684724823572e-05, 1.615541805222165e-05, 0.0013786258641630411, 0.0021604245994240046, 0.006299597676843405, 0.0001233753573615104, 1.2333900485828053e-05, 2.875251266232226e-05, 0.001463025575503707, 0.002617470920085907, 0.007501470856368542, 0.0001486631081206724, 1.3556716112361755e-05, 3.316805305075832e-05, 0.0017627794295549393, 0.002740313997492194, 0.0081236707046628, 0.00017145523452199996, 1.4710365576320328e-05, 3.515102798701264e-05, 1.4979054927825928, 2.1349267959594727, 3.8314075469970703, 0.07334399968385696, 0.00932345725595951, 0.026286380365490913, 1.7559694051742554, 1.2997266054153442, 4.361297130584717, 0.07091008871793747, 0.004827819298952818, 0.028492622077465057, 0.000589004426728934, 0.002152914647012949, 0.006374794989824295, 0.00013460920308716595, 1.9302704458823428e-05, 1.4287573321780656e-05, 0.004529218189418316, 0.006887372117489576, 0.019901517778635025, 0.00041755297570489347, 4.641725172405131e-05, 8.058909588726237e-05, 0.016963042318820953, 0.003801831044256687, 0.009796896949410439, 0.00020793524163309485, 2.3205064280773513e-05, 0.0002457379305269569], "count": [2225]}, "timestamp": {"min": [0.0], "max": [74.13333333333334], "mean": [37.06666666666667], "std": [21.410070320087954], "count": [2225]}, "frame_index": {"min": [0], "max": [2224], "mean": [1112.0], "std": [642.3021096026387], "count": [2225]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2225]}, "index": {"min": [11186], "max": [13410], "mean": [12298.0], "std": [642.3021096026387], "count": [2225]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2225]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639698505401611]], [[0.5644703507423401]], [[0.5646235942840576]]], "std": [[[0.29628264904022217]], [[0.2955418527126312]], [[0.2962336242198944]]], "count": [2225]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3051299452781677]], [[0.3076868951320648]], [[0.3048854470252991]]], "std": [[[0.18250258266925812]], [[0.1825898438692093]], [[0.18230585753917694]]], "count": [2225]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30860695242881775]], [[0.3127419948577881]], [[0.3088915944099426]]], "std": [[[0.18423333764076233]], [[0.1833166629076004]], [[0.18206976354122162]]], "count": [2225]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659219026565552]], [[0.5661596059799194]], [[0.5660157799720764]]], "std": [[[0.3020086884498596]], [[0.3015764653682709]], [[0.30245739221572876]]], "count": [2225]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6196078658103943]], [[0.6196078658103943]], [[0.6196078658103943]]], "mean": [[[0.0035836680326610804]], [[0.0035836680326610804]], [[0.0035836680326610804]]], "std": [[[0.03715724125504494]], [[0.03715724125504494]], [[0.03715724125504494]]], "count": [2225]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4907224178314209]], [[0.4907224178314209]], [[0.4907224178314209]]], "std": [[[0.22146572172641754]], [[0.22146572172641754]], [[0.22146572172641754]]], "count": [2225]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [1.0351824760437012, -0.7799001336097717, -0.2240614891052246, 0.8267230987548828, -0.04414653033018112, -0.7697392702102661, 0.2566274404525757, 0.006905294954776764, -0.000216993284993805, -0.26569193601608276, 0.004063470289111137, 0.003546337829902768, 0.0036058733239769936, -0.06095566973090172, 0.003500953782349825, 0.0008566930191591382, 2.2322223230730742e-05, -0.056397490203380585, 0.006889865733683109, 0.0008407297427766025, -0.003337499452754855, -0.011282981373369694, 0.006740239914506674, 0.0008367390255443752, 0.005691042635589838, -0.0027614969294518232, 0.00440289918333292, 0.002277002902701497, 0.000870439107529819, 0.9674885272979736, -1.0410445928573608, -0.24263572692871094, 0.9317548871040344, -1.6799226999282837, -0.7691463828086853, -0.1687716692686081, 0.005308471154421568, -0.13908082246780396, -0.28072434663772583, -0.24336785078048706, 0.0032719061709940434, 0.005305164493620396, -0.02143310010433197, 0.0037874404806643724, 0.0008438337245024741, 0.005303202196955681, -0.03195144981145859, 0.004676684271544218, 0.0008793076267465949, -0.0008787101251073182, -0.09459191560745239, 0.003869699314236641, 0.0011821654625236988, 0.00645848223939538, -0.0016146587440744042, -0.11689050495624542, 0.005672651343047619, 0.0008336350438185036, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0010546117555350065, -0.0001917476038215682, -9.58738019107841e-05, -0.7446517944335938], "max": [1.2742629051208496, -0.4712558090686798, -0.00010725881293183193, 1.5697383880615234, 0.2348698377609253, 0.2119264006614685, 0.6981748938560486, 1.474609136581421, 0.2929735779762268, 0.0003628977865446359, 0.2638903260231018, 0.708548903465271, 0.5257750153541565, 0.1626308113336563, 0.03783540427684784, 0.04088935628533363, 0.4740007519721985, 0.25425341725349426, 0.0639624372124672, 0.045430004596710205, 0.18284198641777039, 0.2699410319328308, 0.02240518108010292, 0.02237689308822155, 0.24113665521144867, 0.21306493878364563, 0.2833849787712097, 0.04100271314382553, 0.03153800964355469, 1.4240869283676147, -0.32646772265434265, -0.0005270661786198616, 1.6908596754074097, 0.11270013451576233, 0.058982402086257935, 0.6981524229049683, 1.4530842304229736, 0.2781144678592682, 0.19933846592903137, 0.28472644090652466, 0.7477160096168518, 1.0488258600234985, 0.18044061958789825, 0.9938716292381287, 0.5738007426261902, 1.3381251096725464, 0.2697359323501587, 1.5400811433792114, 1.1873455047607422, 1.453763484954834, 0.2903609871864319, 1.5375338792800903, 1.1774975061416626, 0.24191159009933472, 1.4612988233566284, 0.296604722738266, 1.448155403137207, 1.308203935623169, 0.5628750920295715, -1.106767177581787, 0.5443714261054993, 9.58738019107841e-05, 0.0001917476038215682, 0.10613229870796204, -0.5986360311508179], "mean": [1.1443805694580078, -0.5288785099983215, -0.22136643528938293, 0.9389581680297852, 0.01997823640704155, 0.10563310980796814, 0.41062742471694946, 1.4209667444229126, 0.2833333909511566, -0.1580996960401535, 0.19008281826972961, 0.6818313002586365, 0.4962552785873413, 0.1464095562696457, 0.03535272553563118, 0.03920562192797661, 0.4206693470478058, 0.23107202351093292, 0.05319829657673836, 0.041253041476011276, 0.14448674023151398, 0.24053718149662018, 0.019591540098190308, 0.01857827976346016, 0.1122962236404419, 0.17833161354064941, 0.2545015811920166, 0.03281576931476593, 0.027404671534895897, 1.2477319240570068, -0.5958656668663025, -0.22385624051094055, 1.2349247932434082, -1.2467167377471924, -0.304800420999527, 0.12745656073093414, 1.2827956676483154, 0.10834527015686035, -0.032769471406936646, -0.09797981381416321, 0.3037170171737671, 0.710557758808136, 0.12742388248443604, 0.4144999086856842, 0.1994740217924118, 1.1966221332550049, 0.02433175966143608, 1.414469838142395, 0.9993999600410461, 1.36415696144104, -0.037643227726221085, 1.424082636833191, 0.9828596115112305, 0.08679002523422241, 1.3566486835479736, -0.05771923437714577, 1.137334942817688, 1.256476640701294, 0.5627050995826721, -1.1068658828735352, 0.5440733432769775, -0.00060349638806656, 1.363780910423884e-07, 0.0698266327381134, -0.6963942646980286], "std": [0.06827791035175323, 0.044533561915159225, 0.020312659442424774, 0.10082899034023285, 0.029209274798631668, 0.12817156314849854, 0.1015157401561737, 0.15090841054916382, 0.03382157161831856, 0.03878229483962059, 0.02225395105779171, 0.08458016812801361, 0.07032161206007004, 0.02395257167518139, 0.004851555451750755, 0.005257144570350647, 0.08069693297147751, 0.037782616913318634, 0.008940092287957668, 0.007122616283595562, 0.03937780112028122, 0.03936118632555008, 0.0031913165003061295, 0.004423936363309622, 0.01905972883105278, 0.04237063229084015, 0.034241657704114914, 0.006424278020858765, 0.005275226663798094, 0.10891992598772049, 0.13971678912639618, 0.020586809143424034, 0.17426948249340057, 0.33119964599609375, 0.1422148197889328, 0.16914606094360352, 0.15257154405117035, 0.06194114312529564, 0.09112652391195297, 0.08005086332559586, 0.17502228915691376, 0.15993057191371918, 0.029131438583135605, 0.19092336297035217, 0.12530793249607086, 0.2051277756690979, 0.03684625029563904, 0.27930739521980286, 0.20925019681453705, 0.24560649693012238, 0.05028855428099632, 0.2854199707508087, 0.21708542108535767, 0.02827388606965542, 0.24368487298488617, 0.05557016283273697, 0.24527063965797424, 0.24730569124221802, 3.6679408367490396e-05, 3.0587634682888165e-05, 3.8675283576594666e-05, 0.0001591485779499635, 8.084090950433165e-06, 0.019957171753048897, 0.02873758226633072], "count": [2812]}, "observation.state.joint_torque": {"min": [-44.53799819946289, -10.715999603271484, -20.488000869750977, -9.093000411987305, -0.7671999931335449, -1.4919999837875366, 0.8327999711036682, -4.643280982971191, -0.3069201409816742, -0.4349413812160492, -1.3570170402526855, -0.8965383172035217, -1.9601855278015137, -0.499880850315094, -0.10293588042259216, -0.039956167340278625, -0.5900704860687256, -0.44135355949401855, -0.12285894900560379, -0.03424813970923424, -0.342528760433197, -0.44327250123023987, -0.10293588042259216, -0.03139413148164749, -0.1402965486049652, -0.29743391275405884, -1.00455904006958, -0.12451920658349991, -0.028540121391415596, 15.367500305175781, -5.855999946594238, 3.805999994277954, -8.619000434875488, -2.5327999591827393, -2.023200035095215, -4.273600101470947, -1.5549770593643188, -0.8328869938850403, -0.4523389935493469, -1.0140347480773926, -0.31544867157936096, -0.9153289198875427, -1.0563700199127197, -0.1942499577999115, -0.05922074615955353, -1.664670467376709, -0.9345181584358215, -0.33205118775367737, -0.046377696096897125, -1.1542354822158813, -0.364596426486969, -0.1759871542453766, -0.039242662489414215, -0.13325972855091095, -0.8827071189880371, -0.729192852973938, -0.10957689583301544, -0.09275539219379425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.273500442504883, 18.394500732421875, -8.736000061035156, 8.53600025177002, 1.1920000314712524, 1.225600004196167, 3.5464000701904297, 0.3043730556964874, 0.3043730556964874, 1.1805551052093506, 0.4063594937324524, 0.09463459998369217, 0.4528671205043793, 0.4384751617908478, 0.08467306196689606, 0.02497260272502899, 0.47301584482192993, 0.40585339069366455, 0.1328205019235611, 0.021405089646577835, 0.40873175859451294, 0.3665153384208679, 0.11621791869401932, 0.01712406985461712, 0.05629453808069229, 0.22643357515335083, 0.3358124792575836, 0.04482691362500191, 0.014270060695707798, 41.230499267578125, 12.025500297546387, 21.570999145507812, 3.059999942779541, 0.553600013256073, 3.5383999347686768, 1.0920000076293945, 2.4247963428497314, 4.6279988288879395, 2.1722214221954346, 1.4328210353851318, 0.667422890663147, 2.148240566253662, 0.7963553071022034, 1.0575830936431885, 0.21547789871692657, 0.4586239159107208, 0.3022312521934509, 0.1062563955783844, 0.17409472167491913, 0.3837856948375702, 0.3722721338272095, 0.11289741843938828, 0.20120783150196075, 0.18075823783874512, 0.4950835406780243, 0.4096912443637848, 0.18760894238948822, 0.07563132047653198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.12316131591797, 1.463570237159729, -11.625121116638184, -0.8558098673820496, -0.3302171528339386, -0.1849113255739212, 1.7146624326705933, -0.000890833733137697, -0.0015393755165860057, 0.032882750034332275, 0.010042262263596058, 0.0020121498964726925, 0.000828770047519356, 0.007165596354752779, 0.00027808730374090374, 0.0001593448396306485, -0.001465124194510281, 0.0058632115833461285, -0.0010001691989600658, -0.00012661352229770273, 0.025320440530776978, 0.023204956203699112, 0.0005992758087813854, 0.00017177841800730675, -0.002209482481703162, 0.009446529671549797, 0.007353604305535555, -0.0013780358713120222, 0.00010783605830511078, 27.801315307617188, 0.8058676719665527, 12.583913803100586, -1.697304129600525, -0.3646326959133148, 1.450796127319336, -1.075903058052063, 0.45162463188171387, 1.421852469444275, 0.43091902136802673, 0.10865353792905807, 0.1681623011827469, 0.859997570514679, -0.23516090214252472, 0.3921875059604645, 0.10634955018758774, -0.024221034720540047, -0.03271152824163437, 0.0002686390944290906, 0.00046586032840423286, 0.005420013330876827, -4.469611667445861e-05, -0.0004357247380539775, 6.216564361238852e-05, 0.008518869057297707, 0.008147245272994041, -0.03702126443386078, -0.013511717319488525, 0.00267284968867898, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9820957779884338, 1.0657622814178467, 0.9506603479385376, 0.7634493112564087, 0.2704997658729553, 0.3340691328048706, 0.17954649031162262, 0.09665346890687943, 0.026192275807261467, 0.07436242699623108, 0.061076853424310684, 0.01986641436815262, 0.06309773027896881, 0.05382569506764412, 0.006785939447581768, 0.004076290410012007, 0.047580067068338394, 0.045588694512844086, 0.01284768432378769, 0.004418809898197651, 0.06375297904014587, 0.07200131565332413, 0.006482619326561689, 0.004085206426680088, 0.010477473959326744, 0.030520422384142876, 0.05412435159087181, 0.007177008781582117, 0.0038080879021435976, 3.995936870574951, 1.9678081274032593, 1.5451191663742065, 1.7901685237884521, 0.3038388788700104, 0.6639167666435242, 0.5053222179412842, 0.7770587205886841, 1.4884577989578247, 0.520734429359436, 0.3440408706665039, 0.1842053085565567, 0.8562087416648865, 0.3358269929885864, 0.401350736618042, 0.10087289661169052, 0.1586095094680786, 0.10628420859575272, 0.023410247638821602, 0.009970844723284245, 0.06508050113916397, 0.0689239352941513, 0.022068338468670845, 0.010580863803625107, 0.03034289740025997, 0.13157755136489868, 0.14059582352638245, 0.03436041250824928, 0.005588012747466564, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2812]}, "observation.state.tcp": {"min": [0.3617614209651947, 0.19191348552703857, 0.9304133057594299, -1.251910924911499, 1.217897891998291, -1.6338399648666382, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2569393813610077, -0.2717532217502594, 0.9497708678245544, -0.7049409747123718, 1.2015975713729858, 0.5488008856773376, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4528290331363678, 0.22775760293006897, 1.0712398290634155, -0.9880579710006714, 1.8556019067764282, -1.2290468215942383, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4710007607936859, -0.047008316963911057, 1.1353803873062134, 1.2083150148391724, 2.049739122390747, 1.6905102729797363, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4343433976173401, 0.2055089920759201, 0.9872980713844299, -1.1061569452285767, 1.6935914754867554, -1.5641059875488281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40667134523391724, -0.15199030935764313, 1.047889232635498, -0.2085449993610382, 1.7169580459594727, 0.8109865188598633, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.013927330262959003, 0.007328846491873264, 0.034437406808137894, 0.043071337044239044, 0.1237853616476059, 0.046623896807432175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05359986424446106, 0.05306411534547806, 0.046770285815000534, 0.31371158361434937, 0.13908642530441284, 0.1786431521177292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2812]}, "action": {"min": [1.0351905822753906, -0.7799999713897705, -0.22405707836151123, 0.8267079591751099, -0.044138289988040924, -0.7699999809265137, 0.2566155791282654, 0.0, 0.0, -0.27384090423583984, 0.0, 0.0, 0.0, -0.06740538030862808, 0.0, 0.0, 0.0, -0.0673898458480835, 0.0, 0.0, 0.0, -0.018673967570066452, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9674833416938782, -1.0412187576293945, -0.24264022707939148, 0.9316698908805847, -1.6799112558364868, -0.7640917897224426, -0.16888123750686646, 0.0, -0.14494498074054718, -0.2769714891910553, -0.24534808099269867, 0.0, 0.0, -0.02140676975250244, 0.0, 0.0, 0.0, -0.033333878964185715, 0.0, 0.0, 0.0, -0.09582562744617462, 0.0, 0.0, -9.271030165791672e-09, 0.0, -0.11803251504898071, 0.0, 0.0, 0.5626833438873291, -1.1069587469100952, 0.5439884662628174, -0.0011208518408238888, -1.6153911928995512e-05, -8.913650717986204e-19, -0.7446679472923279], "max": [1.2742587327957153, -0.47126537561416626, 0.0, 1.5700000524520874, 0.23512057960033417, 0.21192240715026855, 0.7107523083686829, 1.4835422039031982, 0.29082944989204407, 0.0, 0.26842832565307617, 0.7146664261817932, 0.5319553017616272, 0.16820836067199707, 0.0447549931704998, 0.04346442595124245, 0.4794803559780121, 0.2556670606136322, 0.0684347078204155, 0.04733172804117203, 0.1887655258178711, 0.27165117859840393, 0.027082320302724838, 0.02535109408199787, 0.26180002093315125, 0.21937522292137146, 0.28689685463905334, 0.0458739809691906, 0.033895786851644516, 1.4240684509277344, -0.32645952701568604, -0.002312765456736088, 1.6909613609313965, 0.11267851293087006, 0.059056028723716736, 0.7394253015518188, 1.4923614263534546, 0.2903231978416443, 0.2018125206232071, 0.2890205681324005, 0.7515852451324463, 1.0550786256790161, 0.2415226250886917, 0.9978001713752747, 0.5740450024604797, 1.3376330137252808, 0.2773318290710449, 1.5423518419265747, 1.188258409500122, 1.4538599252700806, 0.30680227279663086, 1.5631530284881592, 1.1783504486083984, 0.26180002093315125, 1.4614206552505493, 0.29952481389045715, 1.4568188190460205, 1.4873348474502563, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 1.65974743105174e-20, 1.1935552720387932e-05, 0.10643664747476578, -0.5988434553146362], "mean": [1.1444380283355713, -0.528926432132721, -0.22136856615543365, 0.9390313625335693, 0.019809454679489136, 0.10547564178705215, 0.4109545350074768, 1.4297305345535278, 0.2841505706310272, -0.15463264286518097, 0.1915404498577118, 0.687766969203949, 0.5019009113311768, 0.15000183880329132, 0.04241165518760681, 0.04147487133741379, 0.42425429821014404, 0.2329489290714264, 0.056903496384620667, 0.04351963847875595, 0.14622142910957336, 0.24304692447185516, 0.022622158750891685, 0.021265719085931778, 0.1172170639038086, 0.17908062040805817, 0.25987711548805237, 0.0319540873169899, 0.029785074293613434, 1.2489235401153564, -0.5966818332672119, -0.22388003766536713, 1.23556387424469, -1.2465649843215942, -0.3049680292606354, 0.1278899759054184, 1.2856111526489258, 0.11389642208814621, -0.032411497086286545, -0.09900899976491928, 0.3046794831752777, 0.7298669219017029, 0.11395823955535889, 0.4185076951980591, 0.2262011021375656, 1.196326494216919, 0.024085981771349907, 1.4155211448669434, 0.9999457597732544, 1.3652006387710571, -0.03774533420801163, 1.4258009195327759, 0.9833999276161194, 0.08966357260942459, 1.3572838306427002, -0.05832530930638313, 1.136887550354004, 1.3718928098678589, 0.5627046823501587, -1.1068724393844604, 0.5441447496414185, -0.0006485090707428753, 5.657082624566101e-07, 0.0698753222823143, -0.6964445114135742], "std": [0.068294458091259, 0.044628191739320755, 0.020323053002357483, 0.1009669080376625, 0.02848469279706478, 0.12853437662124634, 0.10191614180803299, 0.15972675383090973, 0.03318484500050545, 0.04026664420962334, 0.023022735491394997, 0.08356695622205734, 0.0702543780207634, 0.02451847679913044, 0.005558050703257322, 0.005379959940910339, 0.08100780099630356, 0.03691935911774635, 0.00978188868612051, 0.007306946441531181, 0.04030661657452583, 0.03768477588891983, 0.005186129827052355, 0.004817472770810127, 0.022232508286833763, 0.04260148108005524, 0.03381633758544922, 0.006388749461621046, 0.005809244234114885, 0.10880152881145477, 0.1403190940618515, 0.020475486293435097, 0.17477194964885712, 0.33037543296813965, 0.14284992218017578, 0.17020142078399658, 0.1603044718503952, 0.06586682796478271, 0.0915866419672966, 0.07936938107013702, 0.17594894766807556, 0.1744680553674698, 0.035780515521764755, 0.19173331558704376, 0.13316462934017181, 0.20106443762779236, 0.03863588348031044, 0.2750597894191742, 0.2070038616657257, 0.2392255961894989, 0.05077099800109863, 0.281635046005249, 0.2149791419506073, 0.030584780499339104, 0.23796065151691437, 0.05548086017370224, 0.24197566509246826, 0.2680501937866211, 2.1236310203676112e-05, 1.0545202712819446e-05, 2.3903839974082075e-05, 0.0001465433742851019, 6.0591155488509685e-06, 0.020015669986605644, 0.028764456510543823], "count": [2812]}, "observation.state.tcp_pose": {"min": [0.3617614209651947, 0.19191348552703857, 0.9304133057594299, -1.251910924911499, 1.217897891998291, -1.6338399648666382, 0.2569393813610077, -0.2717532217502594, 0.9497708678245544, -0.7049409747123718, 1.2015975713729858, 0.5488008856773376], "max": [0.4528290331363678, 0.22775760293006897, 1.0712398290634155, -0.9880579710006714, 1.8556019067764282, -1.2290468215942383, 0.4710007607936859, -0.047008316963911057, 1.1353803873062134, 1.2083150148391724, 2.049739122390747, 1.6905102729797363], "mean": [0.4343433976173401, 0.2055089920759201, 0.9872980713844299, -1.1061569452285767, 1.6935914754867554, -1.5641059875488281, 0.40667134523391724, -0.15199030935764313, 1.047889232635498, -0.2085449993610382, 1.7169580459594727, 0.8109865188598633], "std": [0.013927330262959003, 0.007328846491873264, 0.034437406808137894, 0.043071337044239044, 0.1237853616476059, 0.046623896807432175, 0.05359986424446106, 0.05306411534547806, 0.046770285815000534, 0.31371158361434937, 0.13908642530441284, 0.1786431521177292], "count": [2812]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.19191041588783264, 0.9303844571113586, -1.2443885803222656, 1.2178406715393066, -1.6338156461715698, 0.2564997673034668, -0.2741345465183258, 0.9498077630996704, -0.7053659558296204, 1.2021582126617432, 0.5487927198410034], "max": [0.4528461992740631, 0.22769014537334442, 1.071142554283142, -0.9881306886672974, 1.855751633644104, -1.2289543151855469, 0.4709972143173218, -0.046967387199401855, 1.1355817317962646, 1.2059675455093384, 2.049861192703247, 1.6915227174758911], "mean": [0.4343582093715668, 0.205519437789917, 0.9873213768005371, -1.1058212518692017, 1.6932668685913086, -1.5642181634902954, 0.40681368112564087, -0.1522284597158432, 1.048519492149353, -0.20886021852493286, 1.7153030633926392, 0.8112291097640991], "std": [0.013935853727161884, 0.007336816750466824, 0.03449685871601105, 0.04312366992235184, 0.124201700091362, 0.046703584492206573, 0.05351586639881134, 0.05326994135975838, 0.04695276916027069, 0.3124768137931824, 0.14071127772331238, 0.17989856004714966], "count": [2812]}, "subtask_index": {"min": [50], "max": [332], "mean": [293.46657183499286], "std": [57.41843698079378], "count": [2812]}, "observation.tactile": {"min": [-0.010171476751565933, -4.3010182707803324e-05, -9.489776857662946e-05, -0.0014572584768757224, -4.222706047585234e-05, -0.0002760947681963444, -0.0032391492277383804, -4.636332596419379e-05, -0.00010551495506661013, -0.0005314720328897238, -5.8508081565378234e-05, -6.91634340910241e-05, -0.006518535315990448, -4.662286664824933e-05, -0.00010354365804232657, -0.0011720088077709079, -3.557295349310152e-05, -0.00015857280232012272, -0.013623329810798168, -3.5483237297739834e-05, -7.720389112364501e-05, -0.0011688867816701531, -1.3026708984398283e-05, -0.0003021802695002407, -0.009209168143570423, -4.8381851229351014e-05, -0.00010899548942688853, -0.0008662405889481306, -0.00010273315274389461, -0.00018025957979261875, -1.999094009399414, -3.779937105719e-05, -8.829352736938745e-05, -0.19579443335533142, -0.022166114300489426, -0.04632432386279106, -5.08920431137085, -0.125668466091156, -0.00010509374988032505, -0.20912958681583405, -0.019029689952731133, -0.08220665901899338, -0.03570694476366043, -4.412931957631372e-05, -9.751766629051417e-05, -0.0009943058248609304, -0.0002207828947575763, -0.0007724694442003965, -0.007093188352882862, -5.5182474170578644e-05, -0.00012331930338405073, -0.0009074733825400472, -2.4343709810636938e-05, -0.00013781616871710867, -0.007000397890806198, -4.327186616137624e-05, -9.661354124546051e-05, -0.0009567076340317726, -7.119811925804242e-05, -0.0001317337591899559], "max": [0.0018269430147483945, 0.023113572970032692, 0.06626362353563309, 1.7879547158372588e-06, 0.00019928357505705208, 6.972004939598264e-06, 0.00038444771780632436, 0.01001245528459549, 0.029434366151690483, 1.8051688357445528e-06, 0.0001234121882589534, 6.669262802461162e-06, 0.00329513824544847, 0.01862805336713791, 0.05357224866747856, 1.941740038091666e-06, 0.00015722468378953636, 7.5897119131695945e-06, 0.00026765945949591696, 0.0211974885314703, 0.05853794515132904, 1.4218253454600926e-06, 0.0001265832397621125, 5.581138793786522e-06, 0.0004419978358782828, 0.016147779300808907, 0.04742174223065376, 2.0287209281377727e-06, 0.00011046874715248123, 7.767453098495025e-06, 4.921875953674316, 10.155725479125977, 10.365851402282715, 1.6463103520436562e-06, 0.030890075489878654, 0.08641927689313889, 1.253116488456726, 11.521662712097168, 12.537522315979004, 0.0008965136366896331, 0.0151035962626338, 0.01739056035876274, 0.0008817996131256223, 0.01487806811928749, 0.04273536801338196, 1.7884403860080056e-06, 8.572468505008146e-05, 7.091487532306928e-06, 0.0026148397009819746, 0.014299492351710796, 0.039303913712501526, 2.2813278519606683e-06, 0.00013323886378202587, 8.975688615464605e-06, 0.0013679522089660168, 0.01723887398838997, 0.04838401824235916, 1.8442932514517452e-06, 0.00012547257938422263, 7.3662708928168286e-06], "mean": [-0.00023931464238557965, 0.0018705343827605247, 0.005501143168658018, -7.875129085732624e-05, 1.6579526345594786e-05, -8.564097697671968e-06, -0.00012641451030503958, 0.0013566870475187898, 0.004054795019328594, -6.522836338263005e-05, -6.178970579640009e-07, -1.1881035106853233e-06, 0.00025439882301725447, 0.0001937631022883579, 0.0005971640348434448, -1.1253800948907156e-05, -7.548279086222465e-07, 5.191300715523539e-06, -7.836639269953594e-05, 0.0004971552989445627, 0.0014587035402655602, -2.7418433091952465e-05, 1.9734850411623484e-06, -2.072106781270122e-06, -6.942455365788192e-05, 0.0006717519136145711, 0.0020086700096726418, -2.6493869881960563e-05, -4.053294560435461e-06, 2.4718392523936927e-06, 1.448864221572876, 2.2224481105804443, 4.090816974639893, -0.08090302348136902, 0.0068998453207314014, 0.024651294574141502, -1.770402193069458, 1.7057969570159912, 4.5301666259765625, -0.06963521242141724, -0.0016861667390912771, -0.027098523452878, 0.00015225981769617647, 0.0005813050083816051, 0.001741094863973558, -4.066711335326545e-05, 8.248447898040467e-07, 1.888590418275271e-06, 0.0001935073232743889, 0.0009261671802960336, 0.0028267521411180496, -3.735762584256008e-05, 8.367963346245233e-06, 1.9764840999414446e-06, -0.0007737978594377637, 0.0023078753147274256, 0.006784323137253523, -0.00012656209582928568, -6.206710736478271e-07, -1.411591892974684e-05], "std": [0.0010600020177662373, 0.0032651114743202925, 0.009376028552651405, 0.00016608664009254426, 2.992263762280345e-05, 2.782503725029528e-05, 0.000514727202244103, 0.001842718687839806, 0.005473420489579439, 8.870832971297204e-05, 7.751354132778943e-06, 8.782080840319395e-06, 0.0004521989612840116, 0.0011972477659583092, 0.003518319223076105, 7.387239747913554e-05, 7.693283805565443e-06, 1.0764484613901004e-05, 0.001198515179567039, 0.0019525550305843353, 0.0056114704348146915, 0.00011000571976182982, 1.2624274859263096e-05, 2.711435990931932e-05, 0.0010909037664532661, 0.0017889403970912099, 0.005241387523710728, 6.994069553911686e-05, 1.3165951713745017e-05, 1.1792641998908948e-05, 1.6043673753738403, 2.10573410987854, 3.636909008026123, 0.0721694827079773, 0.010204661637544632, 0.029216162860393524, 1.6967960596084595, 2.0114760398864746, 4.254104137420654, 0.06559280306100845, 0.003947958815842867, 0.02623741701245308, 0.001099817338399589, 0.0018845231970772147, 0.005463519599288702, 0.00012675044126808643, 1.0896493222389836e-05, 2.4884939193725586e-05, 0.00038406605017371476, 0.001562426332384348, 0.00464800326153636, 7.768928480800241e-05, 1.562800935062114e-05, 9.977513400372118e-06, 0.0011636174749583006, 0.00265824468806386, 0.007787779904901981, 0.000150548032252118, 1.62403957801871e-05, 2.1756159185315482e-05], "count": [2812]}, "timestamp": {"min": [0.0], "max": [93.7], "mean": [46.85], "std": [27.05848090504877], "count": [2812]}, "frame_index": {"min": [0], "max": [2811], "mean": [1405.5], "std": [811.7544271514631], "count": [2812]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [2812]}, "index": {"min": [13411], "max": [16222], "mean": [14816.5], "std": [811.7544271514631], "count": [2812]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2812]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5618665814399719]], [[0.562311053276062]], [[0.562620222568512]]], "std": [[[0.29313021898269653]], [[0.29242703318595886]], [[0.29309046268463135]]], "count": [2812]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30667904019355774]], [[0.30960047245025635]], [[0.3065997064113617]]], "std": [[[0.1838434338569641]], [[0.1836312860250473]], [[0.18344782292842865]]], "count": [2812]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3092551827430725]], [[0.313100665807724]], [[0.3092973828315735]]], "std": [[[0.18481802940368652]], [[0.18389807641506195]], [[0.1827293336391449]]], "count": [2812]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.563534140586853]], [[0.5636801719665527]], [[0.5636610388755798]]], "std": [[[0.30030557513237]], [[0.2999402582645416]], [[0.30079805850982666]]], "count": [2812]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5843137502670288]], [[0.5843137502670288]], [[0.5843137502670288]]], "mean": [[[0.0036879954859614372]], [[0.0036879954859614372]], [[0.0036879954859614372]]], "std": [[[0.03710182383656502]], [[0.03710182383656502]], [[0.03710182383656502]]], "count": [2812]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49065059423446655]], [[0.49065059423446655]], [[0.49065059423446655]]], "std": [[[0.22154611349105835]], [[0.22154611349105835]], [[0.22154611349105835]]], "count": [2812]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [1.0508434772491455, -0.7791203856468201, -0.2240942269563675, 0.991041362285614, 0.0003204581735190004, -0.7683387398719788, 0.3242485523223877, 0.006885601207613945, -0.0008851363672874868, -0.2656470537185669, 0.001499889069236815, 0.0035456286277621984, 0.003654936095699668, -0.03742758929729462, 0.003496699035167694, 0.000848267984110862, -0.0017093493370339274, -0.048042576760053635, 0.003027966944500804, 0.0008713259594514966, -0.0030931690707802773, -0.02694285847246647, 0.006807252764701843, 0.0008513719658367336, 0.006086001172661781, -0.0028584024403244257, -0.020834043622016907, 0.002394717652350664, 0.0008597970008850098, 0.9598803520202637, -1.0913411378860474, -0.24257737398147583, 1.037994384765625, -1.716189980506897, -0.883159339427948, -0.19322741031646729, 0.005536666139960289, -0.061946410685777664, -0.24278827011585236, -0.1920638382434845, 0.005276959389448166, 0.00023108591267373413, -0.10914739221334457, 0.005603511817753315, 0.0008110204944387078, -0.001679175766184926, -0.05566009134054184, 0.0034559243358671665, 0.0008691088296473026, -0.0019078041659668088, -0.10910699516534805, 0.003951603081077337, 0.0008673351258039474, 0.006606190465390682, -0.002106267027556896, -0.1287364363670349, 0.00508478656411171, 0.001140040229074657, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0005752427969127893, -9.58738019107841e-05, -0.007190534844994545, -0.7190535068511963], "max": [1.2417972087860107, -0.5619933605194092, -0.0017601230647414923, 1.5681785345077515, 0.158607617020607, 0.22949263453483582, 0.6577337980270386, 1.3467527627944946, 0.29201531410217285, -0.0021931070368736982, 0.26502692699432373, 0.5660709738731384, 0.36691251397132874, 0.1125805601477623, 0.030084306374192238, 0.031567275524139404, 0.2209027260541916, 0.17488104104995728, 0.03776413947343826, 0.027049683034420013, 0.005947398953139782, 0.18080563843250275, 0.006860436871647835, 0.0017351136775687337, 0.2408498078584671, 0.02266089990735054, 0.2407221496105194, 0.002443647477775812, 0.003757565515115857, 1.3673814535140991, -0.36694592237472534, -4.793689640791854e-07, 1.752683162689209, 0.07000980526208878, -0.20432347059249878, 0.69815993309021, 1.3730837106704712, 0.28655630350112915, 0.2493727058172226, 0.28884902596473694, 0.6331779956817627, 1.0100950002670288, 0.16523700952529907, 0.6427359580993652, 0.6413194537162781, 1.3148813247680664, 0.23318634927272797, 1.4977672100067139, 1.0422437191009521, 1.4522230625152588, 0.2701166868209839, 1.5391873121261597, 1.1996101140975952, 0.24971871078014374, 1.4417310953140259, 0.29692143201828003, 1.517422080039978, 1.3081862926483154, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.0679745227098465, -0.5998823642730713], "mean": [1.131211757659912, -0.6022279858589172, -0.22073344886302948, 1.0595455169677734, 0.015908190980553627, 0.08191771805286407, 0.39591893553733826, 1.2966294288635254, 0.2763698995113373, -0.20852841436862946, 0.21381163597106934, 0.5375496745109558, 0.32847392559051514, 0.10235786437988281, 0.025395430624485016, 0.028295736759901047, 0.15253481268882751, 0.15566572546958923, 0.025135930627584457, 0.020636776462197304, 0.0003823442675638944, 0.14580132067203522, 0.006835953798145056, 0.001642007497139275, 0.23605678975582123, 0.0005081273848190904, 0.2124963253736496, 0.002416044007986784, 0.0016743127489462495, 1.205258846282959, -0.6276047825813293, -0.22840604186058044, 1.2986770868301392, -1.2425235509872437, -0.42958614230155945, 0.1099734902381897, 1.2411342859268188, 0.1040729209780693, -0.0019460022449493408, -0.07461096346378326, 0.20433303713798523, 0.7787331938743591, 0.1113230511546135, 0.2731894254684448, 0.2188776433467865, 1.178707242012024, 0.001021804753690958, 1.32303786277771, 0.8218874931335449, 1.3414136171340942, -0.05472481623291969, 1.3664658069610596, 0.9483590126037598, 0.06803036481142044, 1.296775221824646, -0.07187781482934952, 1.1389073133468628, 1.2332204580307007, 0.5626838803291321, -1.1068463325500488, 0.5440836548805237, -0.0004076270561199635, 5.0486466562915666e-08, 0.0459810234606266, -0.6659290194511414], "std": [0.04935295879840851, 0.03403857350349426, 0.02286369539797306, 0.08421125262975693, 0.012698356993496418, 0.15495657920837402, 0.06642826646566391, 0.16138948500156403, 0.039006687700748444, 0.03285053372383118, 0.030039893463253975, 0.0778575986623764, 0.052536867558956146, 0.019833048805594444, 0.0035862268414348364, 0.004286064766347408, 0.03433188423514366, 0.03248394653201103, 0.00500253401696682, 0.004333201330155134, 0.0009754326893016696, 0.032752830535173416, 7.971270861162338e-06, 0.00014831435692030936, 0.031213609501719475, 0.0020991452038288116, 0.040121085941791534, 6.735092483722838e-06, 0.00019479793263599277, 0.10220643877983093, 0.16261404752731323, 0.025780534371733665, 0.18495310842990875, 0.35917985439300537, 0.11677582561969757, 0.19221507012844086, 0.17509718239307404, 0.0582762286067009, 0.09923534840345383, 0.07899165153503418, 0.14036530256271362, 0.18992525339126587, 0.03287538141012192, 0.17444545030593872, 0.1643148958683014, 0.2508772909641266, 0.03589223325252533, 0.3202194571495056, 0.21293140947818756, 0.29601070284843445, 0.052670497447252274, 0.3329549729824066, 0.26193496584892273, 0.02646794356405735, 0.2863999605178833, 0.0631655752658844, 0.29856160283088684, 0.29489579796791077, 3.487844151095487e-05, 4.0566006646258757e-05, 4.499017813941464e-05, 7.302439917111769e-05, 3.8103203223727178e-06, 0.015174840576946735, 0.02728356048464775], "count": [1899]}, "observation.state.joint_torque": {"min": [-44.606998443603516, -9.016500473022461, -22.381000518798828, -6.447000026702881, -0.5407999753952026, -1.1527999639511108, 1.0063999891281128, -2.18027925491333, -1.5587977170944214, -0.3019735515117645, -1.2240492105484009, -0.15274357795715332, -0.4519076645374298, -0.44806981086730957, -0.18760894238948822, -0.04209667816758156, -0.3626774847507477, -0.41065067052841187, -0.10459613054990768, -0.032821137458086014, -0.20916320383548737, -0.4634212553501129, -0.0016602561809122562, -0.02996712550520897, -0.10643186420202255, -0.12185196578502655, -0.4403940737247467, -0.0016602561809122562, -0.026399608701467514, 12.697500228881836, -13.78499984741211, 2.9089999198913574, -9.920000076293945, -2.168800115585327, -2.597599983215332, -3.214400053024292, -1.6466710567474365, -1.2569715976715088, -0.5107454061508179, -0.8997073173522949, -0.3552948236465454, -0.4624617397785187, -1.0765188932418823, -0.14278201758861542, -0.06778278201818466, -1.6483595371246338, -1.0544511079788208, -0.11289741843938828, -0.06064775213599205, -0.28496086597442627, -0.3214205205440521, -0.10127562284469604, -0.04851820319890976, -0.14601396024227142, -1.1062623262405396, -0.7618145942687988, -0.6641023755073547, -0.1148739829659462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.156999588012695, 7.514999866485596, -10.366999626159668, 1.1330000162124634, 1.9248000383377075, 1.0216000080108643, 3.4904000759124756, 0.3081936538219452, 0.3183819055557251, 1.3458327054977417, 0.42624253034591675, 0.09463459998369217, 0.3502044379711151, 0.24562285840511322, 0.08301279693841934, 0.016410568729043007, 0.34156927466392517, 0.28975820541381836, 0.11953844130039215, 0.01855107769370079, 0.3127853274345398, 0.42024534940719604, 0.0016602561809122562, -0.0, 0.056734342128038406, 0.24562285840511322, 0.3003123104572296, 0.0016602561809122562, 0.011416046880185604, 45.061500549316406, 8.633999824523926, 20.31100082397461, 2.8299999237060547, 0.3959999978542328, 3.0759999752044678, 0.6759999990463257, 2.651484251022339, 4.5974345207214355, 2.5562124252319336, 1.4005111455917358, 0.7603973150253296, 2.1434431076049805, 0.2935961186885834, 1.0575830936431885, 0.21405088901519775, 0.564164936542511, 0.2955149710178375, 0.7587370276451111, 0.1655326783657074, 0.5094755291938782, 0.2811230421066284, 0.10791664570569992, 0.0834798514842987, 0.199229896068573, 0.6850574612617493, 0.6390031576156616, 0.6989678740501404, 0.1591111570596695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.797088623046875, 1.979983925819397, -12.38120174407959, -1.4806631803512573, -0.1695508062839508, -0.27735698223114014, 1.7252768278121948, -0.005839181132614613, 0.0024833399802446365, 0.021734297275543213, 0.009977511130273342, 0.0030774667393416166, 0.008096558041870594, 0.0032391571439802647, 0.00042577277054078877, -0.00019838368461932987, 0.004833172541111708, 0.003997504711151123, 0.0002736486785579473, -7.138754881452769e-05, 0.013546666130423546, 0.02583533525466919, 8.742791806071182e-07, -0.0010835931170731783, -0.0005579148419201374, 0.004460318014025688, 0.018219193443655968, -8.742791806071182e-07, -0.00032237256527878344, 26.693971633911133, 1.2993460893630981, 12.57792854309082, -2.33638072013855, -0.49174806475639343, 1.4674900770187378, -1.129390001296997, 0.4573771357536316, 1.4949556589126587, 0.5117030739784241, 0.11706271022558212, 0.1762050986289978, 0.8504858613014221, -0.2572231590747833, 0.4967713952064514, 0.11537553369998932, -0.03972002491354942, -0.11266950517892838, 0.00048435170901939273, 0.00012023253657389432, 0.004609358496963978, -0.016326067969202995, 0.0008034604252316058, -0.0009284176048822701, -0.0004448982945177704, -0.0012252244632691145, -0.027826469391584396, -0.015210720710456371, 0.0029141311533749104, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8953625559806824, 0.9360905289649963, 0.7554251551628113, 0.7219887971878052, 0.29146888852119446, 0.33727002143859863, 0.1936572641134262, 0.06401228159666061, 0.047186478972435, 0.06635981053113937, 0.07037214189767838, 0.011670799925923347, 0.058701422065496445, 0.04359695315361023, 0.008835403248667717, 0.00510981073603034, 0.04181322455406189, 0.03914785757660866, 0.014654725790023804, 0.0037413036916404963, 0.038111355155706406, 0.06821034103631973, 0.0001263544982066378, 0.003945979755371809, 0.006476620212197304, 0.023338472470641136, 0.052781615406274796, 6.59833021927625e-05, 0.002573163015767932, 4.10143518447876, 2.0022380352020264, 1.4800466299057007, 1.650017261505127, 0.290784627199173, 0.6697832942008972, 0.4963968098163605, 0.8102692365646362, 1.5709284543991089, 0.6491959691047668, 0.35093313455581665, 0.19379422068595886, 0.8604583740234375, 0.35941582918167114, 0.4805666506290436, 0.10578253120183945, 0.2110360562801361, 0.2026003897190094, 0.03299606591463089, 0.010493231005966663, 0.05840204656124115, 0.07487209886312485, 0.02552248165011406, 0.01099117286503315, 0.024762464687228203, 0.14357180893421173, 0.1331515610218048, 0.06108783185482025, 0.007306274492293596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1899]}, "observation.state.tcp": {"min": [0.361991822719574, 0.19240908324718475, 0.9453415870666504, -1.2088069915771484, 1.2180252075195312, -1.6872038841247559, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24442683160305023, -0.2765640616416931, 0.9525123834609985, -0.6473151445388794, 1.1578959226608276, 0.5291531682014465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43151938915252686, 0.2350974977016449, 1.0515053272247314, -0.993003249168396, 1.885791540145874, -1.2297462224960327, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4636138379573822, -0.06759664416313171, 1.1252102851867676, 1.2086957693099976, 1.966807246208191, 1.5386481285095215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41327977180480957, 0.20919150114059448, 0.9815617799758911, -1.1387864351272583, 1.7298483848571777, -1.57258141040802, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38795748353004456, -0.1534785032272339, 1.03451406955719, -0.14755001664161682, 1.6497844457626343, 0.810885488986969, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.012396011501550674, 0.005927408114075661, 0.028654029592871666, 0.048263609409332275, 0.1333450973033905, 0.05834114924073219, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05442206934094429, 0.05503788962960243, 0.04455745220184326, 0.3308735191822052, 0.14904876053333282, 0.17126764357089996, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1899]}, "action": {"min": [1.0502084493637085, -0.7794235944747925, -0.22405707836151123, 0.9910416007041931, 8.153628004947677e-05, -0.7674397826194763, 0.3242551386356354, 0.0, 0.0, -0.2659585773944855, 0.0, 0.0, 0.0, -0.04221361503005028, 0.0, 0.0, 0.0, -0.05686398595571518, 0.0, 0.0, 0.0, -0.08461368083953857, 0.0, 0.0, 0.0, 0.0, -0.04688683897256851, 0.0, 0.0, 0.9598821997642517, -1.0914323329925537, -0.24256061017513275, 1.0379842519760132, -1.716212272644043, -0.8865386843681335, -0.1932733952999115, 0.0, -0.07475288212299347, -0.2449045479297638, -0.18257886171340942, 0.0, 0.0, -0.126770481467247, 0.0, 0.0, 0.0, -0.062311459332704544, 0.0, 0.0, 0.0, -0.11448217928409576, 0.0, 0.0, -8.137268636687622e-09, 0.0, -0.13278666138648987, 0.0, 0.0, 0.5625882148742676, -1.1068999767303467, 0.5439894199371338, -0.0005661163595505059, -9.698452231532428e-06, -0.006984596140682697, -0.7190285921096802], "max": [1.2423943281173706, -0.5619861483573914, -0.0013723346637561917, 1.567905306816101, 0.1592247486114502, 0.2294701188802719, 0.6579139232635498, 1.3588024377822876, 0.29130101203918457, 0.0, 0.27254924178123474, 0.5719617009162903, 0.37482330203056335, 0.11196914315223694, 0.033694617450237274, 0.03369433432817459, 0.22914496064186096, 0.17688696086406708, 0.042691804468631744, 0.03032594360411167, 0.00930481031537056, 0.1892559975385666, 0.0024299260694533587, 0.002417859621345997, 0.26180002093315125, 0.024959556758403778, 0.2452586442232132, 0.009204012341797352, 0.008684385567903519, 1.367372989654541, -0.36690354347229004, 0.0, 1.75326669216156, 0.06998992711305618, -0.2041468322277069, 0.8151533603668213, 1.3903474807739258, 0.2914695143699646, 0.2530324459075928, 0.2915434241294861, 0.6351421475410461, 1.1191534996032715, 0.17813074588775635, 0.6492646336555481, 0.681176483631134, 1.4010788202285767, 0.2473294585943222, 1.5012321472167969, 1.0429526567459106, 1.452059268951416, 0.28333213925361633, 1.5455232858657837, 1.2002341747283936, 0.26180002093315125, 1.4452192783355713, 0.2978174090385437, 1.5219109058380127, 1.479941964149475, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 5.2622539002458556e-20, 9.387676982441917e-06, 0.06771111488342285, -0.6000000238418579], "mean": [1.1313084363937378, -0.6022591590881348, -0.22077669203281403, 1.0595629215240479, 0.0159261804074049, 0.0817345380783081, 0.3960074484348297, 1.2999616861343384, 0.2804126441478729, -0.20736423134803772, 0.21707165241241455, 0.5430237650871277, 0.33043959736824036, 0.10284911841154099, 0.030939649790525436, 0.030915910378098488, 0.15319675207138062, 0.15991456806659698, 0.03002113290131092, 0.022851452231407166, 5.090832928544842e-05, 0.15268689393997192, 1.3588221918325871e-05, 1.3526666407415178e-05, 0.2572018802165985, 0.00016740137652959675, 0.22066989541053772, 6.39069767203182e-05, 6.21595827396959e-05, 1.2063146829605103, -0.6282241344451904, -0.22844769060611725, 1.299126148223877, -1.242260217666626, -0.4297995865345001, 0.11138515174388885, 1.245069980621338, 0.11098698526620865, -0.0016697034006938338, -0.07527326047420502, 0.20545612275600433, 0.803521454334259, 0.09303107857704163, 0.2843922972679138, 0.29273203015327454, 1.1804450750350952, 0.0006209386046975851, 1.3247630596160889, 0.822662353515625, 1.3435816764831543, -0.0550980344414711, 1.3688597679138184, 0.9491543173789978, 0.0691724494099617, 1.298327922821045, -0.07304323464632034, 1.1390557289123535, 1.346944808959961, 0.5626853108406067, -1.1068429946899414, 0.5441584587097168, -0.00044894730672240257, -1.4337869913561008e-07, 0.04605228826403618, -0.6659548282623291], "std": [0.04940943047404289, 0.03409484028816223, 0.022734206169843674, 0.0840875655412674, 0.012816973961889744, 0.15536953508853912, 0.06658017635345459, 0.17190948128700256, 0.038698822259902954, 0.0330209843814373, 0.030716534703969955, 0.07642317563295364, 0.05134636536240578, 0.019634868949651718, 0.004515697713941336, 0.004500942770391703, 0.03443828225135803, 0.03207674250006676, 0.006654984783381224, 0.005009005311876535, 0.0006135701551102102, 0.03268785774707794, 0.000162586584337987, 0.00016180804232135415, 0.034208331257104874, 0.0018109880620613694, 0.040341269224882126, 0.0006780729745514691, 0.0006583777139894664, 0.10228604078292847, 0.1632705181837082, 0.025734080001711845, 0.1854763627052307, 0.3597116768360138, 0.11671300232410431, 0.19706712663173676, 0.18490464985370636, 0.0653081163764, 0.09912370890378952, 0.07739291340112686, 0.14129820466041565, 0.20433102548122406, 0.03795600309967995, 0.17851535975933075, 0.18997274339199066, 0.24468806385993958, 0.03753689303994179, 0.31560447812080383, 0.21082894504070282, 0.2884625792503357, 0.05314259976148605, 0.32886940240859985, 0.2597983777523041, 0.03045082837343216, 0.2796259820461273, 0.06254434585571289, 0.2949167490005493, 0.3206309378147125, 4.466205609787721e-06, 2.1072544768685475e-05, 1.1278455531282816e-05, 7.650777115486562e-05, 4.950512447976507e-06, 0.015223227441310883, 0.027312112972140312], "count": [1899]}, "observation.state.tcp_pose": {"min": [0.361991822719574, 0.19240908324718475, 0.9453415870666504, -1.2088069915771484, 1.2180252075195312, -1.6872038841247559, 0.24442683160305023, -0.2765640616416931, 0.9525123834609985, -0.6473151445388794, 1.1578959226608276, 0.5291531682014465], "max": [0.43151938915252686, 0.2350974977016449, 1.0515053272247314, -0.993003249168396, 1.885791540145874, -1.2297462224960327, 0.4636138379573822, -0.06759664416313171, 1.1252102851867676, 1.2086957693099976, 1.966807246208191, 1.5386481285095215], "mean": [0.41327977180480957, 0.20919150114059448, 0.9815617799758911, -1.1387864351272583, 1.7298483848571777, -1.57258141040802, 0.38795748353004456, -0.1534785032272339, 1.03451406955719, -0.14755001664161682, 1.6497844457626343, 0.810885488986969], "std": [0.012396011501550674, 0.005927408114075661, 0.028654029592871666, 0.048263609409332275, 0.1333450973033905, 0.05834114924073219, 0.05442206934094429, 0.05503788962960243, 0.04455745220184326, 0.3308735191822052, 0.14904876053333282, 0.17126764357089996], "count": [1899]}, "action.tcp_pose": {"min": [0.3619525134563446, 0.19246892631053925, 0.9452698230743408, -1.2088068723678589, 1.2186630964279175, -1.6866551637649536, 0.24404095113277435, -0.27707454562187195, 0.9524763822555542, -0.646141529083252, 1.1334338188171387, 0.529350996017456], "max": [0.43148863315582275, 0.236052468419075, 1.0516079664230347, -0.9929081201553345, 1.8857399225234985, -1.2299160957336426, 0.4636474847793579, -0.06758594512939453, 1.1250555515289307, 1.2088515758514404, 1.9666460752487183, 1.5832414627075195], "mean": [0.4133123457431793, 0.20921647548675537, 0.9815549850463867, -1.1387885808944702, 1.729669213294983, -1.5724765062332153, 0.3880923092365265, -0.1536615788936615, 1.0351216793060303, -0.14824607968330383, 1.6473253965377808, 0.8115188479423523], "std": [0.01238535437732935, 0.005955291446298361, 0.02870466373860836, 0.04822884872555733, 0.13367928564548492, 0.05867721140384674, 0.05442427098751068, 0.05519675090909004, 0.04480959475040436, 0.3291696310043335, 0.1525014042854309, 0.17446643114089966], "count": [1899]}, "subtask_index": {"min": [50], "max": [381], "mean": [348.44813059505003], "std": [52.828214456742025], "count": [1899]}, "observation.tactile": {"min": [-0.013381780125200748, -3.877536073559895e-05, -8.567042095819488e-05, -0.0015540868043899536, -0.0001415865117451176, -0.0002682275080587715, -0.00503755547106266, -4.850282130064443e-05, -0.00011044132406823337, -0.0006547896191477776, -5.4509713663719594e-05, -9.794609650271013e-05, -0.01328642014414072, -4.3181767978239805e-05, -9.60811012191698e-05, -0.0015224501257762313, -6.692062743240967e-05, -0.0002920895058196038, -0.017117029055953026, -3.384875526535325e-05, -7.294101669685915e-05, -0.0020091384649276733, -1.1123215699626599e-05, -0.0004083884705323726, -0.015136273577809334, -4.6082579501671717e-05, -0.00010327689233236015, -0.0013770430814474821, -4.581208122544922e-05, -0.0003122043563053012, -4.005653381347656, -4.112889655516483e-05, -9.214763122145087e-05, -0.38000932335853577, -0.004393633455038071, -0.08578607439994812, -6.465097427368164, -0.10855528712272644, -0.00011449870362412184, -0.2306005209684372, -0.017184244468808174, -0.11117316037416458, -0.006183268502354622, -4.838786117034033e-05, -0.00010714421659940854, -0.0011588727356866002, -2.9983753847773187e-05, -0.0001469691633246839, -0.016071705147624016, -5.7224318879889324e-05, -0.00012755936768371612, -0.002300105057656765, -6.025913535268046e-05, -0.000328561756759882, -0.1938282698392868, -4.4505708501674235e-05, -9.993038838729262e-05, -0.001054061925970018, -5.306792081682943e-05, -0.0026667199563235044], "max": [0.000303224369417876, 0.022831767797470093, 0.06542045623064041, 1.6121493899845518e-06, 0.0001863957877503708, 6.3884090195642784e-06, 0.00035156673402525485, 0.012292969971895218, 0.03675907477736473, 1.868328581622336e-06, 2.772413608909119e-05, 6.88349655320053e-06, 0.004533031955361366, 0.025170782580971718, 0.07422074675559998, 1.7839577139966423e-06, 0.00013053620932623744, 3.690855373861268e-05, 0.0030035506933927536, 0.0367463082075119, 0.10776369273662567, 1.3451418681142968e-06, 0.00024715220206417143, 1.0266001481795684e-05, 0.00795044656842947, 0.02506122924387455, 0.07150457054376602, 1.915422672027489e-06, 0.0002156914270017296, 8.089278708212078e-05, 11.069681167602539, 17.970680236816406, 22.031097412109375, 1.6690142956576892e-06, 0.07418157905340195, 0.147958442568779, 0.0003646248369477689, 6.7659220695495605, 13.689702987670898, 2.163775889130193e-06, 0.02142547070980072, 7.668016223760787e-06, 0.0042934417724609375, 0.016827497631311417, 0.049720648676157, 1.9826179595838767e-06, 0.00013510248390957713, 2.933052928710822e-05, 0.09397108107805252, 0.05246857926249504, 0.148966446518898, 2.3283762402570574e-06, 0.0008262009359896183, 0.0011666867649182677, 0.00552712706848979, 0.0246437918394804, 0.04949009045958519, 1.8175621789850993e-06, 0.00017502588161733001, 0.0001004535733954981], "mean": [-0.0011141934664919972, 0.0016075830208137631, 0.004878660663962364, -9.48309971136041e-05, -6.954151558602462e-06, -2.0757543097715825e-05, -0.0003680507361423224, 0.001368244644254446, 0.004037798848003149, -7.312653178814799e-05, 1.5224135267999372e-06, -7.242228093673475e-06, -0.0004999805241823196, 0.0013711695792153478, 0.004045263398438692, -7.893832662375644e-05, 3.3760099995561177e-06, -1.0907311661867425e-05, -0.0019975549075752497, 0.006039852276444435, 0.017486577853560448, -0.0003050857048947364, 3.461387677816674e-05, -5.169077485334128e-05, -0.00012359305401332676, 0.0015709730796515942, 0.004609652794897556, -8.360275387531146e-05, 1.4329900295706466e-05, -7.012750756985042e-06, 1.8185570240020752, 4.188445568084717, 8.446748733520508, -0.14614363014698029, 0.021260615438222885, 0.021133065223693848, -2.459902048110962, 1.0989952087402344, 5.352962970733643, -0.0832042247056961, -0.0007772654062137008, -0.03975125029683113, 0.0002482871641404927, 0.00039899858529679477, 0.0012090421514585614, -2.616031633806415e-05, 1.5331929716921877e-06, 3.886827471433207e-06, -0.0006463119643740356, 0.003452778561040759, 0.010382051579654217, -0.0001801171019906178, 2.0541332560242154e-05, -1.9520990463206545e-05, -0.0006321748369373381, 0.0030817955266684294, 0.009049330838024616, -0.00018877147522289306, 1.3986266822030302e-05, -1.7479760572314262e-05], "std": [0.0020486051216721535, 0.002423194469884038, 0.007153739687055349, 0.00014812835433986038, 2.539138040447142e-05, 3.99199161620345e-05, 0.000870535324793309, 0.0020541686099022627, 0.006004489958286285, 0.00010879305773414671, 5.454861820908263e-06, 1.70980638358742e-05, 0.001747404458001256, 0.002911633811891079, 0.008496553637087345, 0.00017008335271384567, 1.5607613022439182e-05, 3.666799602797255e-05, 0.003338680136948824, 0.0060690282844007015, 0.01764744520187378, 0.00035954584018327296, 3.4688287996686995e-05, 7.701524009462446e-05, 0.0015242715599015355, 0.003193488111719489, 0.009276628494262695, 0.00017041078535839915, 3.414940510992892e-05, 3.2181571441469714e-05, 2.801339864730835, 3.93904972076416, 7.546058654785156, 0.1318681538105011, 0.02292267605662346, 0.04497445747256279, 2.325162172317505, 1.0829378366470337, 4.8199005126953125, 0.07523513585329056, 0.006526307202875614, 0.038978852331638336, 0.0004999490338377655, 0.0016615823842585087, 0.00486351503059268, 0.00010778165597002953, 1.297246399190044e-05, 1.2909670658700634e-05, 0.0027654264122247696, 0.004007609095424414, 0.01183333620429039, 0.00023882761888671666, 3.282333636889234e-05, 4.420175537234172e-05, 0.004652268718928099, 0.003620036179199815, 0.010391876101493835, 0.00022501005150843412, 2.1479503629961982e-05, 6.708376167807728e-05], "count": [1899]}, "timestamp": {"min": [0.0], "max": [63.266666666666666], "mean": [31.633333333333336], "std": [18.27313348628], "count": [1899]}, "frame_index": {"min": [0], "max": [1898], "mean": [949.0], "std": [548.1940045883999], "count": [1899]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1899]}, "index": {"min": [16223], "max": [18121], "mean": [17172.0], "std": [548.1940045883999], "count": [1899]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1899]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5560183525085449]], [[0.5563082098960876]], [[0.5567823648452759]]], "std": [[[0.2893267571926117]], [[0.2886996269226074]], [[0.2895214557647705]]], "count": [1899]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.305560827255249]], [[0.30838650465011597]], [[0.30585283041000366]]], "std": [[[0.18334507942199707]], [[0.18323639035224915]], [[0.1830613762140274]]], "count": [1899]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3086665868759155]], [[0.3123762309551239]], [[0.30875593423843384]]], "std": [[[0.1850578784942627]], [[0.18412870168685913]], [[0.18307757377624512]]], "count": [1899]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5582804083824158]], [[0.5582764744758606]], [[0.558339536190033]]], "std": [[[0.2959062457084656]], [[0.2956456243991852]], [[0.29668933153152466]]], "count": [1899]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6313725709915161]], [[0.6313725709915161]], [[0.6313725709915161]]], "mean": [[[0.004870998207479715]], [[0.004870998207479715]], [[0.004870998207479715]]], "std": [[[0.04454055055975914]], [[0.04454055055975914]], [[0.04454055055975914]]], "count": [1899]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4911002218723297]], [[0.4911002218723297]], [[0.4911002218723297]]], "std": [[[0.22138236463069916]], [[0.22138236463069916]], [[0.22138236463069916]]], "count": [1899]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [1.0500730276107788, -0.7798453569412231, -0.22425301373004913, 1.0673589706420898, -0.046779222786426544, -0.7689015865325928, 0.2089175134897232, 0.006918484345078468, -0.0002686667430680245, -0.2561584711074829, 0.005526235792785883, 0.003497053636237979, 0.003663767362013459, -0.07021554559469223, 0.0035165545996278524, 0.0008602404268458486, -0.0016659285174682736, -0.09888835996389389, 0.0030683872755616903, 0.0008274271385744214, -0.0032329929526895285, -0.02693893387913704, 0.006813634652644396, 0.000837182451505214, 0.00594043405726552, -0.002894215052947402, -0.026002323254942894, 0.0024074818938970566, 0.0015581879997625947, 0.9974143505096436, -1.0809887647628784, -0.2430417686700821, 0.9813283681869507, -1.686340093612671, -0.7699915766716003, -0.21397437155246735, 0.005276130046695471, -0.0817357748746872, -0.2893185317516327, -0.23518693447113037, 0.003265524050220847, 0.005268612876534462, -0.04282401502132416, 0.0034959898330271244, 0.0008589101489633322, 0.004779947455972433, -0.0758514329791069, 0.0034491876140236855, 0.0008775339229032397, -0.0014176721451804042, -0.1381499171257019, 0.003853034693747759, 0.0009005918982438743, 0.014400468207895756, -0.0018707693088799715, -0.16422362625598907, 0.0033240269403904676, 0.0008562495931982994, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.00047936898772604764, -0.0001917476038215682, -9.58738019107841e-05, -0.7446517944335938], "max": [1.2416616678237915, -0.6288133859634399, -0.0003752260818146169, 1.569414734840393, 0.12834636867046356, 0.3127700686454773, 0.6981542110443115, 1.3914843797683716, 0.2976113557815552, 0.001869605272077024, 0.26089170575141907, 0.6736963987350464, 0.46688637137413025, 0.140957310795784, 0.03781873732805252, 0.03612876683473587, 0.29898330569267273, 0.24092797935009003, 0.045672304928302765, 0.03159698471426964, 0.041698750108480453, 0.25194257497787476, 0.006862564478069544, 0.0037637734785676003, 0.24096859991550446, 0.00484912283718586, 0.2608349621295929, 0.00245215673930943, 0.0017133860383182764, 1.4677703380584717, -0.3094276189804077, -3.631220170063898e-05, 1.798063039779663, 0.032313067466020584, 0.008499092422425747, 0.6981400847434998, 1.4228368997573853, 0.286146879196167, 0.27649080753326416, 0.24756504595279694, 0.8361766338348389, 0.9820611476898193, 0.15374431014060974, 0.8837291598320007, 0.4415343403816223, 1.2925242185592651, 0.23400616645812988, 1.393196940422058, 0.630043625831604, 1.418623447418213, 0.24953849613666534, 1.5156666040420532, 0.8529558181762695, 0.24211174249649048, 1.4167323112487793, 0.27504822611808777, 1.5203194618225098, 1.3082104921340942, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.09884588420391083, -0.585788905620575], "mean": [1.1276633739471436, -0.657303512096405, -0.22150376439094543, 1.118837594985962, 0.06861117482185364, 0.15814001858234406, 0.303619384765625, 1.3540900945663452, 0.28773462772369385, -0.15620142221450806, 0.21797019243240356, 0.6497296690940857, 0.3963952958583832, 0.12337946891784668, 0.03377244994044304, 0.03158210217952728, 0.1541638970375061, 0.1838136464357376, 0.024694496765732765, 0.018631236627697945, 0.008571888320147991, 0.18448291718959808, 0.006837806198745966, 0.002080074045807123, 0.23765559494495392, 9.250434231944382e-05, 0.20737700164318085, 0.002428896026685834, 0.0016666408628225327, 1.2706761360168457, -0.6289898753166199, -0.23223188519477844, 1.3025119304656982, -1.3027982711791992, -0.2560917139053345, 0.03830096498131752, 1.2689902782440186, 0.10404382646083832, -0.022222749888896942, -0.07006900757551193, 0.24293920397758484, 0.7711134552955627, 0.10070313513278961, 0.3084641993045807, 0.17473401129245758, 1.198188304901123, -0.03564298152923584, 1.1844313144683838, 0.3074280619621277, 1.3431284427642822, -0.0985802486538887, 1.2711198329925537, 0.4300720691680908, 0.05583365634083748, 1.310226559638977, -0.11619342863559723, 1.0404719114303589, 1.2459098100662231, 0.5626950263977051, -1.1068577766418457, 0.5441046953201294, -0.0001941522496053949, -1.1191496014362201e-06, 0.07208546996116638, -0.6946704387664795], "std": [0.03894632309675217, 0.023654863238334656, 0.020407505333423615, 0.0640617311000824, 0.014118198305368423, 0.16795498132705688, 0.08091370016336441, 0.12716400623321533, 0.031395405530929565, 0.03728906437754631, 0.026506958529353142, 0.0704316720366478, 0.059293799102306366, 0.02288425713777542, 0.004607730079442263, 0.004430515691637993, 0.08520501106977463, 0.04442841559648514, 0.013808039017021656, 0.008522449992597103, 0.014077714644372463, 0.0483303926885128, 7.548462690465385e-06, 0.0007453618454746902, 0.02425512857735157, 0.0015888498164713383, 0.04876810312271118, 6.643044798693154e-06, 1.5830715710762888e-05, 0.12391353398561478, 0.1710159331560135, 0.023680081591010094, 0.18754342198371887, 0.2927744686603546, 0.14324140548706055, 0.1539052128791809, 0.16344846785068512, 0.06809231638908386, 0.11768604069948196, 0.08949942886829376, 0.20929396152496338, 0.18006949126720428, 0.02800382301211357, 0.17014601826667786, 0.1154395341873169, 0.23170508444309235, 0.038977257907390594, 0.26074808835983276, 0.07669530063867569, 0.2742784917354584, 0.05348416417837143, 0.28595519065856934, 0.18533048033714294, 0.02474631927907467, 0.27076005935668945, 0.06400331854820251, 0.25762733817100525, 0.27036675810813904, 3.5613527870737016e-05, 5.205643901717849e-05, 5.7525598094798625e-05, 0.0003184243687428534, 1.699545100564137e-05, 0.016168804839253426, 0.035408519208431244], "count": [2313]}, "observation.state.joint_torque": {"min": [-32.66999816894531, -10.588500022888184, -16.115999221801758, -8.241000175476074, -0.6055999994277954, -1.3215999603271484, 1.2640000581741333, -0.7259107232093811, -0.30055248737335205, -0.31440046429634094, -0.28706127405166626, -0.09629485011100769, -0.342528760433197, -0.7435848116874695, -0.08301279693841934, -0.04138316959142685, -0.2648121416568756, -0.3981776535511017, -0.10957689583301544, -0.03424813970923424, -0.23123088479042053, -0.5420973300933838, -0.0016602561809122562, -0.03567514568567276, -0.11390847712755203, -0.13816286623477936, -0.39242085814476013, -0.0, -0.0007135029300116003, 14.191499710083008, -13.743000030517578, 3.3310000896453857, -8.526000022888184, -2.3775999546051025, -1.6751999855041504, -4.060800075531006, -1.5435154438018799, -1.6708680391311646, -0.9767539501190186, -0.9096488356590271, -0.167685866355896, -0.5680028200149536, -0.9978427886962891, -0.1411217600107193, -0.05993425101041794, -0.7157602906227112, -0.8155445456504822, -0.12451920658349991, -0.046377696096897125, -0.3885830342769623, -0.3674747943878174, -0.10791664570569992, -0.045664187520742416, -0.156129390001297, -0.3665153384208679, -0.490286260843277, -0.13614100217819214, -0.05636673793196678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.034500122070312, 17.570999145507812, -10.26099967956543, 7.802000045776367, 1.3680000305175781, 1.2640000581741333, 2.439199924468994, 0.27380841970443726, 0.27380841970443726, 0.3106723725795746, 0.44736823439598083, 0.0879935771226883, 0.4048939049243927, 0.34636661410331726, 0.09297433495521545, 0.022118592634797096, 0.45574551820755005, 0.3482855260372162, 0.12451920658349991, 0.013556556776165962, 0.28975817561149597, 0.40105605125427246, 0.0016602561809122562, 0.010702544823288918, 0.07344678789377213, 0.18517661094665527, 0.3722721338272095, -0.0, 0.0007135029300116003, 36.66749954223633, 13.895999908447266, 19.738000869750977, 3.2269999980926514, 0.5519999861717224, 3.0088000297546387, 0.4560000002384186, 2.3343758583068848, 4.747710704803467, 2.6755106449127197, 1.4862565994262695, 0.7471152544021606, 2.152078151702881, 0.44806981086730957, 1.0575830936431885, 0.21476440131664276, 0.4950835704803467, 0.2657715976238251, 0.14278201758861542, 0.01855107769370079, 0.35692068934440613, 0.32525837421417236, 0.1062563955783844, 0.027826614677906036, 0.11830649524927139, 0.4375156760215759, 0.3809073269367218, 0.18760894238948822, 0.0635017603635788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.91162872314453, 2.419965982437134, -12.625105857849121, -1.8180338144302368, -0.26325592398643494, -0.46235305070877075, 1.6179862022399902, -0.0017839251086115837, -0.0025844962801784277, 0.028283145278692245, 0.013585774227976799, 0.0006022299057804048, 0.021216582506895065, 0.012979100458323956, 0.0009237997583113611, 0.00029582754359580576, 0.022368015721440315, 0.010659449733793736, 0.0051106978207826614, 0.0003646172408480197, 0.02813057415187359, 0.041305940598249435, 2.871173592211562e-06, -0.0008260963368229568, -0.0007069518323987722, 0.006907040253281593, 0.030510056763887405, 0.0, -5.861027148057474e-06, 27.23739242553711, 1.0109361410140991, 12.800212860107422, -1.739762306213379, -0.47242388129234314, 1.4582183361053467, -0.9760947227478027, 0.4055260419845581, 1.5657638311386108, 0.42153722047805786, 0.13269901275634766, 0.15945354104042053, 1.0342280864715576, -0.11913944780826569, 0.4713033437728882, 0.11793563514947891, -0.0360087975859642, -0.11386339366436005, 0.002429735381156206, 0.000369245681213215, 0.008820224553346634, -0.022736338898539543, 0.001070948550477624, -0.002188937272876501, -0.0014698038576170802, 0.007712639402598143, -0.025829149410128593, -0.011844299733638763, 0.0024909419007599354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7348076701164246, 0.9751640558242798, 0.5555980205535889, 0.7191658616065979, 0.28931593894958496, 0.385647177696228, 0.18734315037727356, 0.03949544206261635, 0.02292468212544918, 0.05399591103196144, 0.059630874544382095, 0.008836939930915833, 0.05758056417107582, 0.05786546692252159, 0.007811534684151411, 0.004358049016445875, 0.05000854656100273, 0.04759086295962334, 0.016407674178481102, 0.0036542818415910006, 0.05294670909643173, 0.07403874397277832, 0.0001464333472540602, 0.004801519215106964, 0.008334588259458542, 0.02618539147078991, 0.06105601042509079, 0.0, 6.773411587346345e-05, 4.359066009521484, 2.0135786533355713, 1.6339852809906006, 1.8042100667953491, 0.2929817736148834, 0.6550610661506653, 0.48213744163513184, 0.7357413172721863, 1.6406669616699219, 0.5460037589073181, 0.3209158778190613, 0.1760496348142624, 0.9705727696418762, 0.26376909017562866, 0.4487529397010803, 0.10388392955064774, 0.13112999498844147, 0.17616234719753265, 0.02647346816956997, 0.00810225959867239, 0.055176351219415665, 0.07542730867862701, 0.02412581443786621, 0.00916458759456873, 0.01743434928357601, 0.1065925806760788, 0.1118793785572052, 0.037135958671569824, 0.005402715876698494, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2313]}, "observation.state.tcp": {"min": [0.3618234395980835, 0.1924455165863037, 0.9499539136886597, -1.2881988286972046, 1.2183315753936768, -1.7659662961959839, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24666935205459595, -0.2499525099992752, 0.9625576734542847, -0.7140506505966187, 1.2178363800048828, 0.4321809411048889, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42125415802001953, 0.23938395082950592, 1.0516719818115234, -0.9968172311782837, 2.01731276512146, -1.229538917541504, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4692552387714386, -0.051879558712244034, 1.145462989807129, 1.2088241577148438, 2.026888608932495, 1.6402777433395386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3989657461643219, 0.2178112268447876, 0.9764125943183899, -1.2422984838485718, 1.82872474193573, -1.6043956279754639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3985096514225006, -0.1523744910955429, 1.0540708303451538, -0.25111937522888184, 1.7796939611434937, 0.7265940308570862, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011406077072024345, 0.006294989492744207, 0.022983981296420097, 0.043047111481428146, 0.15003372728824615, 0.0768202617764473, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05823869630694389, 0.05636420473456383, 0.051922451704740524, 0.29920437932014465, 0.14212745428085327, 0.17133471369743347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2313]}, "action": {"min": [1.050439715385437, -0.7791221141815186, -0.2242487519979477, 1.067347526550293, -0.04831398278474808, -0.7654141783714294, 0.20891591906547546, 0.0, 0.0, -0.25938886404037476, 0.0, 0.0, 0.0, -0.07192514091730118, 0.0, 0.0, 0.0, -0.10424762964248657, 0.0, 0.0, 0.0, -0.13507871329784393, 0.0, 0.0, 0.0, 0.0, -0.13508819043636322, 0.0, 0.0, 0.9974104166030884, -1.0810720920562744, -0.24303990602493286, 0.9812568426132202, -1.6863301992416382, -0.7699999809265137, -0.21402165293693542, 0.0, -0.08986944705247879, -0.2895054817199707, -0.2259518802165985, 0.0, 0.0, -0.040526002645492554, 0.0, 0.0, 0.0, -0.08140506595373154, 0.0, 0.0, 0.0, -0.1426902562379837, 0.0, 0.0, 0.0, 0.0, -0.16435886919498444, 0.0, 0.0, 0.5626833438873291, -1.1069587469100952, 0.5439992547035217, -0.0004533228056970984, -0.00010827580990735441, -6.210104770856158e-18, -0.7444649338722229], "max": [1.2417991161346436, -0.6288064122200012, -0.002555337268859148, 1.5667680501937866, 0.12844234704971313, 0.3127889931201935, 0.7685430645942688, 1.4043360948562622, 0.2938084602355957, 0.0, 0.26118481159210205, 0.681313693523407, 0.4762837290763855, 0.14367809891700745, 0.04241658374667168, 0.04053660109639168, 0.3040804862976074, 0.23767971992492676, 0.05311962589621544, 0.03587525710463524, 0.038085728883743286, 0.2527132034301758, 0.007782206404954195, 0.007678384892642498, 0.26180002093315125, 0.004146816208958626, 0.269711971282959, 0.001764198997989297, 0.0017461729003116488, 1.4677703380584717, -0.30941906571388245, 0.0, 1.7983824014663696, 0.03228403627872467, 0.008633981458842754, 0.8496264815330505, 1.4267137050628662, 0.2948386073112488, 0.28938743472099304, 0.2726750671863556, 0.840488851070404, 1.0799413919448853, 0.15257973968982697, 0.8926287293434143, 0.5096306800842285, 1.4332032203674316, 0.2585105299949646, 1.396737813949585, 0.6454817056655884, 1.423284888267517, 0.2870500981807709, 1.5197349786758423, 0.8609521985054016, 0.26180002093315125, 1.4228715896606445, 0.3025025725364685, 1.5239088535308838, 1.4674632549285889, 0.5626999735832214, -1.106863021850586, 0.5442703366279602, 0.00042282379581592977, 0.00011563007137738168, 0.0988612025976181, -0.5830124020576477], "mean": [1.12772536277771, -0.6573285460472107, -0.22151264548301697, 1.1188538074493408, 0.06859227269887924, 0.15789611637592316, 0.3041830360889435, 1.3629021644592285, 0.2874143719673157, -0.15288040041923523, 0.2192874550819397, 0.6544777750968933, 0.400540828704834, 0.12408563494682312, 0.03781015798449516, 0.035906415432691574, 0.15780578553676605, 0.1883554756641388, 0.02903715893626213, 0.02211802452802658, 0.008671203628182411, 0.1909763664007187, 0.0018572139088064432, 0.0018341905670240521, 0.25817209482192993, 1.0558118447079323e-05, 0.2150251865386963, 4.547234311758075e-06, 4.508965957938926e-06, 1.2718900442123413, -0.6297633051872253, -0.23223815858364105, 1.3030927181243896, -1.3017088174819946, -0.25637495517730713, 0.03918389230966568, 1.2721102237701416, 0.11004815250635147, -0.02199510671198368, -0.07021644711494446, 0.2441243976354599, 0.8002249598503113, 0.08045612275600433, 0.3137216866016388, 0.24442844092845917, 1.1998103857040405, -0.03576570004224777, 1.186974048614502, 0.30832046270370483, 1.3451426029205322, -0.09908286482095718, 1.2729886770248413, 0.4311952292919159, 0.053175754845142365, 1.3113672733306885, -0.11710759997367859, 1.0413475036621094, 1.3425050973892212, 0.5626961588859558, -1.1068592071533203, 0.5441625118255615, -0.00020987569587305188, -7.394298791041365e-07, 0.07213412970304489, -0.6946957111358643], "std": [0.03900161758065224, 0.023688392713665962, 0.020407963544130325, 0.0640856996178627, 0.014227735809981823, 0.16846202313899994, 0.08291646093130112, 0.14429563283920288, 0.03439398482441902, 0.03956582024693489, 0.029639383777976036, 0.07829730212688446, 0.060322847217321396, 0.021634139120578766, 0.005173349753022194, 0.004924726206809282, 0.08559808880090714, 0.04277082160115242, 0.013529135845601559, 0.008795734494924545, 0.013892356306314468, 0.049455996602773666, 0.0029508660081773996, 0.0029141725972294807, 0.030578836798667908, 0.00018062410526908934, 0.05013513192534447, 7.733969687251374e-05, 7.663717406103387e-05, 0.12406353652477264, 0.17152175307273865, 0.023682095110416412, 0.18801815807819366, 0.2943532466888428, 0.14341627061367035, 0.15731173753738403, 0.17076297104358673, 0.07118755578994751, 0.11785105615854263, 0.08923913538455963, 0.21003614366054535, 0.19107350707054138, 0.035734064877033234, 0.17172740399837494, 0.15206240117549896, 0.22704868018627167, 0.040236808359622955, 0.25643113255500793, 0.07717961072921753, 0.2678951621055603, 0.05381704121828079, 0.28177154064178467, 0.18543961644172668, 0.028447259217500687, 0.26421427726745605, 0.06408315151929855, 0.25471141934394836, 0.2875809073448181, 1.2745410458592232e-05, 7.96130461822031e-06, 3.3523712772876024e-05, 0.0003449999203439802, 1.9940724087064154e-05, 0.016208594664931297, 0.035429470241069794], "count": [2313]}, "observation.state.tcp_pose": {"min": [0.3618234395980835, 0.1924455165863037, 0.9499539136886597, -1.2881988286972046, 1.2183315753936768, -1.7659662961959839, 0.24666935205459595, -0.2499525099992752, 0.9625576734542847, -0.7140506505966187, 1.2178363800048828, 0.4321809411048889], "max": [0.42125415802001953, 0.23938395082950592, 1.0516719818115234, -0.9968172311782837, 2.01731276512146, -1.229538917541504, 0.4692552387714386, -0.051879558712244034, 1.145462989807129, 1.2088241577148438, 2.026888608932495, 1.6402777433395386], "mean": [0.3989657461643219, 0.2178112268447876, 0.9764125943183899, -1.2422984838485718, 1.82872474193573, -1.6043956279754639, 0.3985096514225006, -0.1523744910955429, 1.0540708303451538, -0.25111937522888184, 1.7796939611434937, 0.7265940308570862], "std": [0.011406077072024345, 0.006294989492744207, 0.022983981296420097, 0.043047111481428146, 0.15003372728824615, 0.0768202617764473, 0.05823869630694389, 0.05636420473456383, 0.051922451704740524, 0.29920437932014465, 0.14212745428085327, 0.17133471369743347], "count": [2313]}, "action.tcp_pose": {"min": [0.3621591031551361, 0.19256682693958282, 0.9499140381813049, -1.2882543802261353, 1.2201203107833862, -1.7696964740753174, 0.24588598310947418, -0.2553333640098572, 0.9625219106674194, -0.7141048312187195, 1.217836856842041, 0.4322538673877716], "max": [0.421143114566803, 0.2393672615289688, 1.0514830350875854, -0.9545106291770935, 2.017305850982666, -1.2305713891983032, 0.4690965414047241, -0.05184537172317505, 1.1455652713775635, 1.2088515758514404, 2.0266075134277344, 1.6614516973495483], "mean": [0.3989947736263275, 0.21783968806266785, 0.9764447808265686, -1.2420262098312378, 1.828064203262329, -1.6044939756393433, 0.39866358041763306, -0.15261919796466827, 1.0547497272491455, -0.2505292594432831, 1.7774372100830078, 0.7275269031524658], "std": [0.011399328708648682, 0.006310168653726578, 0.023052528500556946, 0.04418396204710007, 0.1513235867023468, 0.07720259577035904, 0.058222100138664246, 0.056540876626968384, 0.05217279866337776, 0.2987440526485443, 0.14527250826358795, 0.1750262975692749], "count": [2313]}, "subtask_index": {"min": [50], "max": [433], "mean": [386.4954604409857], "std": [85.68168753617387], "count": [2313]}, "observation.tactile": {"min": [-0.017344845458865166, -4.0962106140796095e-05, -8.930002513807267e-05, -0.0009609843837097287, -0.00015083419566508383, -0.00034914695424959064, -0.0026460797525942326, -4.789608283317648e-05, -0.00010983867105096579, -0.00040547142270952463, -1.88467965926975e-05, -4.935661854688078e-05, -0.00968674011528492, -4.894965240964666e-05, -0.00010787707287818193, -0.0009121675975620747, -2.1762767573818564e-05, -0.0001880654162960127, -0.015336178243160248, -3.321225449326448e-05, -7.28840968804434e-05, -0.0011862543178722262, -1.9981900550192222e-05, -0.00034109115949831903, -0.014126412570476532, -4.7122732212301344e-05, -0.0001061073926393874, -0.0016631121980026364, -5.042725751991384e-05, -0.00032439370988868177, -1.4099065065383911, -0.18564093112945557, -9.801670967135578e-05, -0.20944352447986603, -0.010127335786819458, -0.0427994504570961, -5.860729694366455, -0.6281190514564514, -9.667695849202573e-05, -0.24680952727794647, -0.024548280984163284, -0.10653353482484818, -2.960862159729004, -0.3414791226387024, -0.00010978366481140256, -0.008736230432987213, -0.004963775631040335, -0.05097387731075287, -0.020113417878746986, -5.5843949667178094e-05, -0.0001252739893971011, -0.0023755726870149374, -6.55636758892797e-05, -0.00044395943405106664, -0.12143336981534958, -4.068905400345102e-05, -9.082430915441364e-05, -0.0007070635911077261, -0.00021504324104171246, -0.0020088227465748787], "max": [0.00032065852428786457, 0.02976807951927185, 0.08587945252656937, 1.690223712103034e-06, 0.00019092792354058474, 6.788132850488182e-06, 0.0005103248404338956, 0.007947425357997417, 0.023483065888285637, 1.886432187347964e-06, 0.00011493582860566676, 6.834996838733787e-06, 0.00522017665207386, 0.015429431572556496, 0.04285368323326111, 2.008453293456114e-06, 0.00010346707131247967, 7.167598960222676e-05, 0.003850224195048213, 0.020531941205263138, 0.06082456186413765, 1.3550510402637883e-06, 0.0001595474750502035, 2.4928302082116716e-05, 0.002435733564198017, 0.029697423800826073, 0.08412259817123413, 2.0049833437951747e-06, 0.0001368457596981898, 2.2410549718188122e-05, 5.185616970062256, 8.515216827392578, 10.501951217651367, 1.8197454210167052e-06, 0.03798399493098259, 0.08492662757635117, 1.7220895290374756, 9.971041679382324, 13.568744659423828, 1.825501612984226e-06, 0.017101319506764412, 0.027839938178658485, 0.011054182425141335, 0.10793828964233398, 0.5266880393028259, 2.0242255232005846e-06, 0.000343731400789693, 0.00013018553727306426, 0.06416811794042587, 0.04435133561491966, 0.12621046602725983, 2.281999286424252e-06, 0.0008293922292068601, 0.0009207006078213453, 0.0023030724842101336, 0.01804332248866558, 0.0375530831515789, 1.7069717159756692e-06, 0.0001540148223284632, 7.006964551692363e-06], "mean": [-0.0010433575371280313, 0.003061760915443301, 0.009090901352465153, -0.00011652666580630466, 3.1018464596854756e-06, -1.632862404221669e-05, 0.00028040792676620185, 3.0228216928662732e-05, 0.00011519859981490299, -2.092039494527853e-06, -1.2487407730077393e-06, 5.370762210077373e-06, -0.0005147220217622817, 0.001466440735384822, 0.004283549264073372, -7.348861981881782e-05, 4.149217147642048e-07, -8.252253792306874e-06, -0.00031286777812056243, 0.0015772070037201047, 0.004576972685754299, -8.2331636804156e-05, 1.154275560111273e-05, -9.456447514821775e-06, -0.000346517248544842, 0.0011270694667473435, 0.0032928972505033016, -5.497425445355475e-05, 3.27027100865962e-06, -6.047765509720193e-06, 1.689032793045044, 2.6566545963287354, 4.510695457458496, -0.08111388981342316, 0.007818767800927162, 0.025180764496326447, -1.8194876909255981, 1.3445546627044678, 5.4049787521362305, -0.08701462298631668, -0.003101034788414836, -0.029103316366672516, -0.0030261785723268986, 0.0010162421967834234, 0.0037287601735442877, -6.514028791571036e-05, 4.223333860409184e-07, -4.7095247282413766e-05, -0.0003877640119753778, 0.0017463124822825193, 0.0051494175568223, -0.00011042845289921388, 3.7145071019040188e-06, -1.0622249646985438e-05, -0.0003097550361417234, 0.0009207725524902344, 0.0026373728178441525, -5.547462569666095e-05, -1.948845010701916e-06, -5.7809102145256475e-06], "std": [0.00175283697899431, 0.004161416552960873, 0.012106958776712418, 0.00015289387374650687, 3.367669341969304e-05, 3.097756052738987e-05, 0.00022126876865513623, 0.00046261842362582684, 0.001354142907075584, 2.3670711016166024e-05, 4.060800620209193e-06, 4.625408109859563e-06, 0.0012965331552550197, 0.002336940262466669, 0.00675605982542038, 0.00012017929839203134, 6.167183983052382e-06, 2.384572508162819e-05, 0.0012004049494862556, 0.003085453761741519, 0.00887319352477789, 0.0001656698004808277, 2.5573772290954366e-05, 2.895806755986996e-05, 0.0017257989384233952, 0.0027900375425815582, 0.008064363151788712, 0.00014715752331539989, 1.7425396436010487e-05, 3.621939322329126e-05, 1.7441856861114502, 2.4706058502197266, 3.9000391960144043, 0.07132836431264877, 0.007978747598826885, 0.027814213186502457, 1.7189992666244507, 1.7496895790100098, 4.874265193939209, 0.07821698486804962, 0.005840576719492674, 0.028985293582081795, 0.06946629285812378, 0.00861449632793665, 0.01957797445356846, 0.00031807832419872284, 0.0001453079894417897, 0.0011619377182796597, 0.0021372027695178986, 0.0033760378137230873, 0.009864252991974354, 0.00021264802489895374, 2.344817949051503e-05, 4.157126386417076e-05, 0.003956229891628027, 0.0018381720874458551, 0.005151310935616493, 0.00010674710210878402, 1.4014116459293291e-05, 6.513952394016087e-05], "count": [2313]}, "timestamp": {"min": [0.0], "max": [77.06666666666666], "mean": [38.53333333333333], "std": [22.256850797168216], "count": [2313]}, "frame_index": {"min": [0], "max": [2312], "mean": [1156.0], "std": [667.7055239150465], "count": [2313]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [2313]}, "index": {"min": [18122], "max": [20434], "mean": [19278.0], "std": [667.7055239150465], "count": [2313]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2313]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659115314483643]], [[0.5664276480674744]], [[0.5667532682418823]]], "std": [[[0.2948422133922577]], [[0.2940515875816345]], [[0.29454341530799866]]], "count": [2313]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.304509699344635]], [[0.30722418427467346]], [[0.3049543499946594]]], "std": [[[0.18377533555030823]], [[0.18379278481006622]], [[0.1836126148700714]]], "count": [2313]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30876418948173523]], [[0.3120989501476288]], [[0.30854132771492004]]], "std": [[[0.1831049919128418]], [[0.18277767300605774]], [[0.18137584626674652]]], "count": [2313]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5668180584907532]], [[0.5669805407524109]], [[0.5669004917144775]]], "std": [[[0.30040496587753296]], [[0.30003127455711365]], [[0.300843745470047]]], "count": [2313]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6313725709915161]], [[0.6313725709915161]], [[0.6313725709915161]]], "mean": [[[0.004080022685229778]], [[0.004080022685229778]], [[0.004080022685229778]]], "std": [[[0.03929103538393974]], [[0.03929103538393974]], [[0.03929103538393974]]], "count": [2313]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4900206923484802]], [[0.4900206923484802]], [[0.4900206923484802]]], "std": [[[0.22125589847564697]], [[0.22125589847564697]], [[0.22125589847564697]]], "count": [2313]}}}
+{"episode_index": 8, "stats": {"observation.state": {"min": [1.027219533920288, -0.7791070938110352, -0.22415617108345032, 1.0468778610229492, -0.010510404594242573, -0.7670804262161255, 0.14079655706882477, 0.006902042310684919, -0.00020868201681878418, -0.2607278525829315, 0.00015379594697151333, 0.003506626933813095, 0.0036600877065211535, -0.03955225273966789, 0.003507335903123021, 0.0008411731687374413, 0.00024899400887079537, -0.0592024102807045, 0.006895893253386021, 0.000828313990496099, -0.003239372279495001, -0.026932310312986374, 0.0027506989426910877, 0.0008451640023849905, 0.005814132280647755, -0.0028998609632253647, -0.02606046386063099, 0.002323805121704936, 0.0008491548360325396, 1.0045889616012573, -1.1160305738449097, -0.2425718605518341, 1.0554773807525635, -1.6199089288711548, -0.7685030698776245, -0.31951501965522766, 0.005613815505057573, -0.182002454996109, -0.20555394887924194, -0.1620226800441742, 0.0032527598086744547, 0.0053348480723798275, -0.1444917768239975, 0.003550592577084899, 0.0008686654036864638, 0.005371399223804474, -0.09574120491743088, 0.0034708159510046244, 0.0008717693854123354, -0.0020807550754398108, -0.14731405675411224, 0.003586757928133011, 0.0008402863750234246, 0.014628452248871326, -0.0021523868199437857, -0.17170961201190948, 0.003234322415664792, 0.0008216626010835171, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.00047936898772604764, -9.58738019107841e-05, -0.006711165886372328, -0.7691954970359802], "max": [1.298433542251587, -0.6141806840896606, -0.0021470938809216022, 1.5676159858703613, 0.14281025528907776, 0.33651331067085266, 0.6981513500213623, 1.3864480257034302, 0.2947638928890228, -0.003543177852407098, 0.2516120374202728, 0.6271777749061584, 0.590006411075592, 0.13919690251350403, 0.04542163014411926, 0.045528002083301544, 0.5043438673019409, 0.23880356550216675, 0.05723424628376961, 0.04547834023833275, 0.19516927003860474, 0.2556963860988617, 0.026101499795913696, 0.026964988559484482, 0.24089796841144562, 0.17523331940174103, 0.24876061081886292, 0.02273811772465706, 0.026953015476465225, 1.4336084127426147, -0.3407878279685974, -0.001749097602441907, 1.8055369853973389, 0.13616883754730225, -0.07387160509824753, 0.6869792342185974, 1.3735008239746094, 0.269975483417511, 0.48775771260261536, 0.301419198513031, 0.37733855843544006, 1.0833454132080078, 0.12019509822130203, 0.588662326335907, 0.3502371311187744, 1.2935961484909058, 0.1401941180229187, 1.478395700454712, 0.9765710234642029, 1.4508649110794067, 0.16272278130054474, 1.5414819717407227, 1.2608277797698975, 0.24251526594161987, 1.4676657915115356, 0.18636837601661682, 1.5173944234848022, 1.3081871271133423, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 0.0005752427969127893, 9.58738019107841e-05, 0.08935438096523285, -0.5999782085418701], "mean": [1.134657382965088, -0.6483144760131836, -0.22129952907562256, 1.1005610227584839, 0.06109725311398506, 0.17102639377117157, 0.3066546320915222, 1.333734154701233, 0.28179746866226196, -0.16775482892990112, 0.2069789320230484, 0.5863056778907776, 0.5117483735084534, 0.1324840933084488, 0.037528146058321, 0.03959033265709877, 0.3981495797634125, 0.20898699760437012, 0.044953666627407074, 0.03923821076750755, 0.1364561766386032, 0.21382898092269897, 0.02028142288327217, 0.01872035674750805, 0.11144132167100906, 0.10949966311454773, 0.2089265137910843, 0.017451290041208267, 0.017620468512177467, 1.2289152145385742, -0.658740758895874, -0.23498021066188812, 1.3511066436767578, -1.3077248334884644, -0.38243207335472107, -0.012075967155396938, 1.232525110244751, -0.03277706354856491, 0.14996248483657837, 0.05290590599179268, 0.13469284772872925, 0.8367508053779602, 0.0537821464240551, 0.27794891595840454, 0.16302554309368134, 1.1922276020050049, -0.05382484197616577, 1.3229091167449951, 0.7740671634674072, 1.3515664339065552, -0.10501378774642944, 1.381445288658142, 0.9959120154380798, 0.03462399169802666, 1.3433209657669067, -0.12354984879493713, 1.236039638519287, 1.2456779479980469, 0.5626910924911499, -1.1068575382232666, 0.5441372990608215, 5.199505267228233e-06, -2.5363439704051416e-07, 0.061503514647483826, -0.7033594250679016], "std": [0.053021885454654694, 0.023737605661153793, 0.021341977640986443, 0.06524533778429031, 0.013843551278114319, 0.15889720618724823, 0.09581292420625687, 0.13524781167507172, 0.03302876651287079, 0.04617714881896973, 0.029842674732208252, 0.06933533400297165, 0.07505819946527481, 0.021727051585912704, 0.0051820469088852406, 0.005456497892737389, 0.07692363858222961, 0.03762316331267357, 0.007615990005433559, 0.006903358269482851, 0.033517979085445404, 0.040914151817560196, 0.004000154323875904, 0.004106106236577034, 0.019888995215296745, 0.02662060037255287, 0.03918435052037239, 0.003301463555544615, 0.004298814106732607, 0.12466860562562943, 0.18363188207149506, 0.022121770307421684, 0.2017267346382141, 0.29553863406181335, 0.12370694428682327, 0.15683631598949432, 0.15611904859542847, 0.08361532539129257, 0.1758701056241989, 0.08274588733911514, 0.08311540633440018, 0.17775605618953705, 0.026594797149300575, 0.1090460941195488, 0.08698208630084991, 0.23034606873989105, 0.024185024201869965, 0.2936095595359802, 0.19103197753429413, 0.27308669686317444, 0.03967997431755066, 0.3100382089614868, 0.25495022535324097, 0.027680519968271255, 0.273200660943985, 0.04701443016529083, 0.29442015290260315, 0.27167952060699463, 4.908523624180816e-05, 5.0538616051198915e-05, 6.886560731800273e-05, 0.00037389545468613505, 7.528265086875763e-06, 0.018883895128965378, 0.035174399614334106], "count": [2268]}, "observation.state.joint_torque": {"min": [-37.07849884033203, -6.953999996185303, -18.91900062561035, -6.53000020980835, -0.7120000123977661, -1.169600009918213, 1.2727999687194824, -0.5679932236671448, -0.3069201409816742, -0.7978067398071289, -0.3802630305290222, -0.16104483604431152, -0.43655622005462646, -0.5584082007408142, -0.10957689583301544, -0.04066966846585274, -0.6006246209144592, -0.31566372513771057, -0.12285894900560379, -0.033534638583660126, -0.3809073269367218, -0.4307994246482849, -0.10293588042259216, -0.032821137458086014, -0.11258907616138458, -0.35116392374038696, -0.4758942723274231, -0.12949997186660767, -0.02925362065434456, 10.289999961853027, -11.98799991607666, -1.7489999532699585, -8.819999694824219, -2.4616000652313232, -4.291200160980225, -3.838399887084961, -1.1945687532424927, -1.035377860069275, -0.48216354846954346, -2.044224262237549, -0.3187691569328308, -0.6649087071418762, -1.0592485666275024, -0.17432688176631927, -0.0642152652144432, -1.1782221794128418, -0.9134098887443542, -0.7271921634674072, -0.14198710024356842, -0.8126661777496338, -0.3434882164001465, -0.6474998593330383, -0.14270058274269104, -0.10907067358493805, -0.4048939049243927, -0.4048939049243927, -0.7388139367103577, -0.15625715255737305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.63249969482422, 14.4375, -11.126999855041504, 7.289999961853027, 1.5759999752044678, 1.3087999820709229, 2.842400074005127, 0.258526086807251, 0.32729655504226685, 0.42127177119255066, 0.2671782672405243, 0.08301279693841934, 0.3809072971343994, 0.2715283930301666, 0.0796922892332077, 0.01712406985461712, 0.3789883852005005, 0.3857046067714691, 0.12617947161197662, 0.013556556776165962, 0.38666409254074097, 0.3885830044746399, 0.09131408482789993, 0.016410568729043007, 0.06113235652446747, 0.35883963108062744, 0.42983999848365784, 0.07637178897857666, 0.014983562752604485, 35.99850082397461, 15.503999710083008, 20.388999938964844, 4.285999774932861, 0.6200000047683716, 3.147200107574463, 2.154400110244751, 3.0768425464630127, 4.415319919586182, 2.424487352371216, 1.2749994993209839, 0.7072691321372986, 2.145362138748169, 0.5248269438743591, 1.0575830936431885, 0.21476440131664276, 0.43655624985694885, 0.34924498200416565, 0.10957689583301544, 0.021405089646577835, 0.4586239159107208, 0.3972181975841522, 0.10791664570569992, 0.02925362065434456, 0.1424955427646637, 0.4519076347351074, 0.6121381521224976, 0.11787818372249603, 0.039242662489414215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.651721954345703, 2.3021867275238037, -12.578234672546387, -1.675560474395752, -0.3466445803642273, -0.4789159595966339, 1.6148099899291992, -0.0018176406156271696, -0.0011662750039249659, 0.03985048457980156, 0.015666229650378227, 0.0015519208973273635, 0.014587155543267727, 0.0068723480217158794, 0.0006339428364299238, 0.00022556516341865063, 0.01888592541217804, 0.0035514538176357746, 0.0013718347763642669, 0.00015069145592860878, 0.03036443516612053, 0.026288820430636406, 0.001216644188389182, 0.0001000418997136876, -0.002153438748791814, 0.013567421585321426, 0.012316049076616764, 0.0011463681003078818, 0.0002897425729315728, 25.92401123046875, 1.3965909481048584, 12.418156623840332, -2.2061939239501953, -0.6241593360900879, 1.3901903629302979, -0.9745532870292664, 0.3537133038043976, 1.1891697645187378, 0.41430190205574036, 0.09481308609247208, 0.14816616475582123, 0.8914043307304382, -0.1521567553281784, 0.3749379515647888, 0.1017947569489479, -0.07509537041187286, -0.09827227890491486, 0.002453053370118141, 0.000678586249705404, 0.010227536782622337, -0.0056679402478039265, -0.0013571914751082659, -0.000964550650678575, -0.000788655539508909, 0.0013935104943811893, -0.003732943208888173, -0.008884722366929054, 0.0025350165087729692, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9882620573043823, 0.9424264430999756, 0.6570471525192261, 0.7413859963417053, 0.2965625822544098, 0.3654661774635315, 0.19071152806282043, 0.03349829837679863, 0.02418791875243187, 0.06993065029382706, 0.061774224042892456, 0.010520818643271923, 0.06267286092042923, 0.04525738209486008, 0.007937359623610973, 0.0042180996388196945, 0.049709443002939224, 0.04296930134296417, 0.014101647771894932, 0.0035792053677141666, 0.06332964450120926, 0.07258031517267227, 0.008815043605864048, 0.0049614994786679745, 0.011043114587664604, 0.036899447441101074, 0.05069510638713837, 0.008097520098090172, 0.0034756846725940704, 4.840097904205322, 2.200976610183716, 2.4469809532165527, 1.9561649560928345, 0.3290800452232361, 0.9475124478340149, 0.5568644404411316, 0.6701065301895142, 1.421968698501587, 0.5887619256973267, 0.3563920557498932, 0.18015871942043304, 0.9334719181060791, 0.27938464283943176, 0.4013287127017975, 0.10179360955953598, 0.19073572754859924, 0.15386752784252167, 0.02941206283867359, 0.009840664453804493, 0.0608709454536438, 0.053830571472644806, 0.026013730093836784, 0.010616903193295002, 0.012453307397663593, 0.10937351733446121, 0.08593277633190155, 0.038609061390161514, 0.006510933395475149, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2268]}, "observation.state.tcp": {"min": [0.3620415925979614, 0.19244791567325592, 0.9429564476013184, -1.2928155660629272, 1.2208279371261597, -1.7454161643981934, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2514978051185608, -0.2635306417942047, 0.9617214202880859, -0.6042159199714661, 1.2204077243804932, 0.5095381736755371, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43212205171585083, 0.23942594230175018, 1.0708640813827515, -1.0629723072052002, 2.1138622760772705, -1.2288564443588257, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4662429690361023, -0.05659839138388634, 1.135856032371521, 1.231156826019287, 2.0493998527526855, 1.6385997533798218, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4032788872718811, 0.21800391376018524, 0.9798542857170105, -1.2214714288711548, 1.828202724456787, -1.6089650392532349, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3840619921684265, -0.15693089365959167, 1.0419230461120605, -0.16288790106773376, 1.7235260009765625, 0.7200415134429932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.014314863830804825, 0.006895583122968674, 0.029040103778243065, 0.05102869123220444, 0.159158393740654, 0.06621479988098145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.062359970062971115, 0.05314401537179947, 0.05054188147187233, 0.28346917033195496, 0.14836366474628448, 0.1701030135154724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2268]}, "action": {"min": [1.0272294282913208, -0.7798253893852234, -0.22415295243263245, 1.0468738079071045, -0.010528763756155968, -0.768704354763031, 0.14078062772750854, 0.0, 0.0, -0.2641034722328186, 0.0, 0.0, 0.0, -0.04307295382022858, 0.0, 0.0, 0.0, -0.07047402858734131, 0.0, 0.0, 0.0, -0.09312398731708527, 0.0, 0.0, 0.0, 0.0, -0.10155972838401794, 0.0, 0.0, 1.0045949220657349, -1.1161524057388306, -0.24256065487861633, 1.0553950071334839, -1.6199010610580444, -0.7688384056091309, -0.31952032446861267, 0.0, -0.18689104914665222, -0.21188658475875854, -0.14310070872306824, 0.0, 0.0, -0.14567930996418, 0.0, 0.0, 0.0, -0.0983966588973999, 0.0, 0.0, 0.0, -0.1492619812488556, 0.0, 0.0, 0.0, 0.0, -0.17074839770793915, 0.0, 0.0, 0.5626833438873291, -1.1069588661193848, 0.5440940260887146, -0.00042283759103156626, -9.618507465347648e-05, -0.006643563974648714, -0.7690982818603516], "max": [1.299018144607544, -0.6141829490661621, -0.00048137616249732673, 1.5692384243011475, 0.1430034041404724, 0.336510568857193, 0.7756788730621338, 1.396526575088501, 0.2933371067047119, 0.0, 0.25707122683525085, 0.6332350373268127, 0.597891628742218, 0.13978928327560425, 0.05071856826543808, 0.04805517941713333, 0.5084503889083862, 0.24016456305980682, 0.0594523623585701, 0.04836370423436165, 0.19618554413318634, 0.25845783948898315, 0.03114769048988819, 0.027798138558864594, 0.26179999113082886, 0.178238183259964, 0.25268760323524475, 0.0329926535487175, 0.031139524653553963, 1.4336053133010864, -0.3407914936542511, -0.0010883978102356195, 1.805694580078125, 0.13614079356193542, -0.06493021547794342, 0.6860065460205078, 1.3788478374481201, 0.28782299160957336, 0.4879940450191498, 0.30338698625564575, 0.38062170147895813, 1.106109380722046, 0.09493493288755417, 0.5933811664581299, 0.36662188172340393, 1.4971481561660767, 0.17164699733257294, 1.4830526113510132, 0.9776280522346497, 1.4826701879501343, 0.20609597861766815, 1.5453282594680786, 1.262394905090332, 0.26180002093315125, 1.4960306882858276, 0.23122261464595795, 1.5222150087356567, 1.5261240005493164, 0.5626999735832214, -1.106863021850586, 0.544264554977417, 0.0005212867981754243, 8.458264346700162e-05, 0.08952395617961884, -0.6000000238418579], "mean": [1.134767770767212, -0.6483222842216492, -0.22131136059761047, 1.1005752086639404, 0.06109314411878586, 0.17087289690971375, 0.30724039673805237, 1.3398842811584473, 0.28476661443710327, -0.16451792418956757, 0.20862813293933868, 0.591437578201294, 0.5161141157150269, 0.13129235804080963, 0.0463220588862896, 0.04378828778862953, 0.4038331210613251, 0.21131016314029694, 0.05024292692542076, 0.04178868979215622, 0.1398841291666031, 0.2167428582906723, 0.0251813642680645, 0.022403595969080925, 0.11013646423816681, 0.1112465113401413, 0.2135433852672577, 0.022943081334233284, 0.022000188007950783, 1.2300527095794678, -0.6595668792724609, -0.2350086271762848, 1.351771354675293, -1.3069181442260742, -0.3823802173137665, -0.011696343310177326, 1.2339568138122559, -0.028470316901803017, 0.15008676052093506, 0.052560679614543915, 0.13593903183937073, 0.8576357960700989, 0.04308813810348511, 0.2793748080730438, 0.18045200407505035, 1.194032073020935, -0.05367712303996086, 1.3243075609207153, 0.7747812867164612, 1.3539021015167236, -0.10490928590297699, 1.3827522993087769, 0.9968355298042297, 0.03172191232442856, 1.3450666666030884, -0.12365193665027618, 1.2358512878417969, 1.3967852592468262, 0.5626952052116394, -1.1068576574325562, 0.5441756844520569, 8.527877980668563e-06, 1.9736437479878077e-06, 0.06155750900506973, -0.7034046053886414], "std": [0.053139057010412216, 0.023732740432024002, 0.021334050223231316, 0.06529291719198227, 0.013837146572768688, 0.1591450423002243, 0.09753084927797318, 0.15108749270439148, 0.03565479815006256, 0.04876941069960594, 0.03266667202115059, 0.07452911138534546, 0.0772247239947319, 0.02015083096921444, 0.006522484123706818, 0.0060845608823001385, 0.07770542800426483, 0.03589237853884697, 0.008820275776088238, 0.0072443303652107716, 0.03439384326338768, 0.04084020107984543, 0.0053653232753276825, 0.0047554443590343, 0.028420856222510338, 0.026879100129008293, 0.04034494608640671, 0.005018118303269148, 0.004780796822160482, 0.1248895674943924, 0.1842527985572815, 0.02205568552017212, 0.20207728445529938, 0.29721397161483765, 0.12445690482854843, 0.15772798657417297, 0.16485418379306793, 0.08376212418079376, 0.17657341063022614, 0.08251556754112244, 0.08370040357112885, 0.19135846197605133, 0.021190304309129715, 0.10980847477912903, 0.09974417090415955, 0.22513893246650696, 0.025619562715291977, 0.2895472049713135, 0.18936675786972046, 0.26640117168426514, 0.039476387202739716, 0.3058123290538788, 0.2528349459171295, 0.031062981113791466, 0.26655036211013794, 0.04609645530581474, 0.2905278205871582, 0.30476951599121094, 1.1797761544585228e-05, 9.183887414110359e-06, 3.056323839700781e-05, 0.0004075230681337416, 1.4800049029872753e-05, 0.018906906247138977, 0.03524398058652878], "count": [2268]}, "observation.state.tcp_pose": {"min": [0.3620415925979614, 0.19244791567325592, 0.9429564476013184, -1.2928155660629272, 1.2208279371261597, -1.7454161643981934, 0.2514978051185608, -0.2635306417942047, 0.9617214202880859, -0.6042159199714661, 1.2204077243804932, 0.5095381736755371], "max": [0.43212205171585083, 0.23942594230175018, 1.0708640813827515, -1.0629723072052002, 2.1138622760772705, -1.2288564443588257, 0.4662429690361023, -0.05659839138388634, 1.135856032371521, 1.231156826019287, 2.0493998527526855, 1.6385997533798218], "mean": [0.4032788872718811, 0.21800391376018524, 0.9798542857170105, -1.2214714288711548, 1.828202724456787, -1.6089650392532349, 0.3840619921684265, -0.15693089365959167, 1.0419230461120605, -0.16288790106773376, 1.7235260009765625, 0.7200415134429932], "std": [0.014314863830804825, 0.006895583122968674, 0.029040103778243065, 0.05102869123220444, 0.159158393740654, 0.06621479988098145, 0.062359970062971115, 0.05314401537179947, 0.05054188147187233, 0.28346917033195496, 0.14836366474628448, 0.1701030135154724], "count": [2268]}, "action.tcp_pose": {"min": [0.36180901527404785, 0.1924741268157959, 0.9429501295089722, -1.2928309440612793, 1.2183887958526611, -1.75014328956604, 0.25160568952560425, -0.264739990234375, 0.9616810083389282, -0.6043497323989868, 1.2189007997512817, 0.5096917748451233], "max": [0.43216830492019653, 0.23945316672325134, 1.071101188659668, -1.0630124807357788, 2.113816738128662, -1.22956120967865, 0.4659871757030487, -0.05666516348719597, 1.1355806589126587, 1.2122414112091064, 2.049355983734131, 1.6222774982452393], "mean": [0.4033181965351105, 0.21801826357841492, 0.9799225330352783, -1.2211142778396606, 1.8275619745254517, -1.609178900718689, 0.3841644823551178, -0.15716032683849335, 1.0424937009811401, -0.16237770020961761, 1.7220752239227295, 0.7206177711486816], "std": [0.014311734586954117, 0.006901425775140524, 0.02911635860800743, 0.051558587700128555, 0.16028913855552673, 0.0660548210144043, 0.06235239654779434, 0.05341707542538643, 0.05083303526043892, 0.2848120629787445, 0.14987769722938538, 0.1719975620508194], "count": [2268]}, "subtask_index": {"min": [50], "max": [489], "mean": [449.515873015873], "std": [69.52297283326357], "count": [2268]}, "observation.tactile": {"min": [-0.010526147671043873, -4.3884774640901014e-05, -9.752356709213927e-05, -0.0014902190305292606, -6.03392327320762e-05, -0.0002465902944095433, -0.002433598507195711, -4.8417514335596934e-05, -0.0001124069094657898, -0.0004010429547633976, -2.0268382286303677e-05, -4.594752681441605e-05, -0.01140043418854475, -4.6406319597736e-05, -0.00010275776730850339, -0.0011440592352300882, -1.688729753368534e-05, -0.000238427659496665, -0.019326066598296165, -3.207385816494934e-05, -6.993054557824507e-05, -0.001956464722752571, -1.5215062376228161e-05, -0.00038055909681133926, -0.014038675464689732, -4.959652142133564e-05, -0.00011112693027826026, -0.0012411964125931263, -8.86094494489953e-06, -0.0003226379631087184, -12.00240421295166, -3.960282265325077e-05, -9.167587268166244e-05, -0.21524152159690857, -0.019698482006788254, -0.2139139175415039, -13.76695728302002, -4.358360456535593e-05, -9.842210420174524e-05, -0.3550366759300232, -0.08692958950996399, -0.2035527527332306, -0.6068565845489502, -4.699358032667078e-05, -0.00010397533333161846, -0.008535309694707394, -0.0020361209753900766, -0.00994861964136362, -0.008526831865310669, -5.8221674407832325e-05, -0.00012961939501110464, -0.0023057647049427032, -2.813922765199095e-05, -0.00020249770022928715, -0.29938042163848877, -4.502645242610015e-05, -0.00010054069571197033, -0.0010636901715770364, -8.866554708220065e-05, -0.003835188690572977], "max": [0.008757580071687698, 0.026295296847820282, 0.07286596298217773, 1.8566948938314454e-06, 0.00024829842732287943, 0.00010511255823075771, 0.00035608428879640996, 0.007940646260976791, 0.024277206510305405, 1.942836206580978e-06, 2.6083052944159135e-05, 6.987578672124073e-06, 0.005328993313014507, 0.01911524310708046, 0.05664557218551636, 1.920135900945752e-06, 0.00019728165352717042, 6.235781620489433e-05, 0.0059568313881754875, 0.031876154243946075, 0.09051801264286041, 1.3135726248947321e-06, 0.00021829863544553518, 6.572112761205062e-05, 0.013861953280866146, 0.022161638364195824, 0.06209966167807579, 2.0834850147366524e-06, 0.0002318088081665337, 0.00018931535305455327, 4.1246418952941895, 14.39682674407959, 10.090423583984375, 1.6916559388846508e-06, 0.032894209027290344, 0.06470786035060883, 1.017096757888794, 12.443116188049316, 22.21411895751953, 1.8459993498254335e-06, 0.021692199632525444, 0.01983031816780567, 0.007953016087412834, 0.15672019124031067, 0.4569994807243347, 1.898805294331396e-06, 0.001198546844534576, 7.809438102412969e-05, 0.12328680604696274, 0.047409165650606155, 0.1465376615524292, 2.3851180230849423e-06, 0.0008021661196835339, 0.001786275883205235, 0.002236805157735944, 0.03171401470899582, 0.07050134241580963, 1.8393411664874293e-06, 0.0005816587945446372, 4.032505239592865e-05], "mean": [-0.0004952632007189095, 0.002042364329099655, 0.0059829349629580975, -8.975566015578806e-05, 1.079220419342164e-05, -1.0664934961823747e-05, -0.0002842246612999588, 0.001298285904340446, 0.0038857930339872837, -6.344920984702185e-05, 1.6432676375188748e-06, -4.6292811930470634e-06, -0.00012264990073163062, 0.0013726964825764298, 0.004090840462595224, -7.454701699316502e-05, 6.962095994822448e-06, -4.034602170577273e-06, -0.0006400940474122763, 0.0012221045326441526, 0.003595244837924838, -6.472277891589329e-05, 6.109042715252144e-06, -1.3504814887710381e-05, -1.5466808690689504e-05, 0.0009944604244083166, 0.0028829998336732388, -5.5685322877252474e-05, 6.808665148128057e-06, -2.747374082900933e-06, 0.6403700113296509, 2.3322813510894775, 3.7541937828063965, -0.0719132050871849, 0.005721001885831356, 0.010194835253059864, -2.8348710536956787, 1.567589521408081, 6.769404888153076, -0.1134885922074318, -0.006521941628307104, -0.04495709389448166, -0.0015955317066982388, 0.0016654343344271183, 0.0044264886528253555, -9.726290591061115e-05, 1.0180098115597502e-06, -2.8695438231807202e-05, 0.00021630465926136822, 0.002887390786781907, 0.008883925154805183, -0.0001320666924584657, 2.4871267669368535e-05, -4.51744745078031e-06, -0.0012875583488494158, 0.0026310128159821033, 0.007358178496360779, -0.00017508567543700337, -2.9345794700930128e-06, -2.6121684641111642e-05], "std": [0.001528315944597125, 0.0034195068292319775, 0.009837144985795021, 0.00017512612976133823, 3.578197356546298e-05, 3.379003828740679e-05, 0.0006094517302699387, 0.0016238703392446041, 0.004810017999261618, 7.881212513893843e-05, 4.0035979509411845e-06, 1.1076583177782595e-05, 0.0010059456108137965, 0.002454521832987666, 0.007235295604914427, 0.00014154538803268224, 2.210638194810599e-05, 2.1729414584115148e-05, 0.0025204212870448828, 0.003069040598347783, 0.008974345400929451, 0.00017057143850252032, 1.9997061826870777e-05, 5.020184107706882e-05, 0.001096924301236868, 0.002509570447728038, 0.007175507955253124, 0.00014213452232070267, 1.9857825463986956e-05, 2.58677846431965e-05, 1.842003583908081, 2.681222438812256, 3.6419031620025635, 0.0716307982802391, 0.009147725068032742, 0.03318573161959648, 2.979792356491089, 1.9260001182556152, 6.7450270652771, 0.11442786455154419, 0.013469778001308441, 0.04722639173269272, 0.023350633680820465, 0.006432418245822191, 0.014329610392451286, 0.0002819362562149763, 6.254151230677962e-05, 0.00038529999437741935, 0.005112919025123119, 0.003690342651680112, 0.011372394859790802, 0.00020390735880937427, 4.7605339204892516e-05, 7.155251660151407e-05, 0.009707885794341564, 0.0033303238451480865, 0.009160323068499565, 0.00021820545953232795, 1.8566293874755502e-05, 0.0001318005088251084], "count": [2268]}, "timestamp": {"min": [0.0], "max": [75.56666666666666], "mean": [37.78333333333334], "std": [21.82383805400433], "count": [2268]}, "frame_index": {"min": [0], "max": [2267], "mean": [1133.5], "std": [654.7151416201299], "count": [2268]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [2268]}, "index": {"min": [20435], "max": [22702], "mean": [21568.5], "std": [654.7151416201299], "count": [2268]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2268]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.568325400352478]], [[0.5687326192855835]], [[0.5690791606903076]]], "std": [[[0.29556435346603394]], [[0.29487013816833496]], [[0.2955149710178375]]], "count": [2268]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3051221966743469]], [[0.30783611536026]], [[0.305616170167923]]], "std": [[[0.18370050191879272]], [[0.18376491963863373]], [[0.18363064527511597]]], "count": [2268]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30846142768859863]], [[0.3119007349014282]], [[0.30821168422698975]]], "std": [[[0.18339647352695465]], [[0.18278922140598297]], [[0.18127061426639557]]], "count": [2268]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5698596835136414]], [[0.5699439644813538]], [[0.569898784160614]]], "std": [[[0.3012423515319824]], [[0.3009067177772522]], [[0.30185604095458984]]], "count": [2268]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8588235378265381]], [[0.8588235378265381]], [[0.8588235378265381]]], "mean": [[[0.0035020741634070873]], [[0.0035020741634070873]], [[0.0035020741634070873]]], "std": [[[0.03765357658267021]], [[0.03765357658267021]], [[0.03765357658267021]]], "count": [2268]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4898475110530853]], [[0.4898475110530853]], [[0.4898475110530853]]], "std": [[[0.221129909157753]], [[0.221129909157753]], [[0.221129909157753]]], "count": [2268]}}}
+{"episode_index": 9, "stats": {"observation.state": {"min": [1.0506489276885986, -0.7890878915786743, -0.2231968343257904, 1.0325132608413696, -0.03050452470779419, -0.7679310441017151, 0.20207631587982178, 0.006924085319042206, -0.00110267021227628, -0.2711666524410248, 0.004067447502166033, 0.003511236049234867, 0.003623535856604576, -0.00012290239101275802, 0.0034842893946915865, 0.0008487114100717008, -0.001367872697301209, 0.004643062129616737, 0.0030981702730059624, 0.0008562495931982994, -0.0032320134341716766, 0.00512093398720026, 0.0027202062774449587, 0.0008340784697793424, 0.005744560156017542, -0.002946219639852643, 0.004357270896434784, 0.0023053677286952734, 0.00085270224371925, 0.957281231880188, -1.0616739988327026, -0.24218477308750153, 1.0395628213882446, -1.7069551944732666, -0.7684782147407532, -0.41905227303504944, 0.005293113645166159, -0.14744818210601807, -0.28517401218414307, -0.13589707016944885, 0.003270842367783189, 0.00016436062287539244, -0.1864319145679474, 0.0037945318035781384, 0.0007923966622911394, -0.003400299930945039, -0.09569457173347473, 0.0034247227013111115, 0.0013125317636877298, -0.0016350195510312915, -0.1416240930557251, 0.003822542494162917, 0.0008646746282465756, 0.006553743500262499, -0.0015960086602717638, -0.1659700572490692, 0.003227940294891596, 0.000839399523101747, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0012463594321161509, -9.58738019107841e-05, 9.58738019107841e-05, -0.8696712255477905], "max": [1.236777424812317, -0.581266462802887, -0.001989021897315979, 1.5682361125946045, 0.05352262780070305, 0.16705326735973358, 0.6223886013031006, 1.3600178956985474, 0.2916373014450073, 0.00036384473787620664, 0.2720545828342438, 0.655139684677124, 0.4333452880382538, 0.14629484713077545, 0.03379019349813461, 0.03616645932197571, 0.3882516622543335, 0.24817895889282227, 0.04565493389964104, 0.04097626730799675, 0.1345241516828537, 0.27184614539146423, 0.018685463815927505, 0.017804758623242378, 0.2410488873720169, 0.10581554472446442, 0.258709579706192, 0.018786868080496788, 0.017717404291033745, 1.4582010507583618, -0.3281084895133972, -0.0023084015119820833, 1.720314621925354, 0.15557190775871277, -0.005483262240886688, 0.6072407960891724, 1.3432255983352661, 0.2783963680267334, 0.26995161175727844, 0.28172212839126587, 0.648591935634613, 1.140214204788208, 0.09012743085622787, 0.7326407432556152, 0.6015076041221619, 1.3223211765289307, 0.18598225712776184, 1.3931835889816284, 0.9384681582450867, 1.4348962306976318, 0.1978517770767212, 1.511539101600647, 1.1409971714019775, 0.24981075525283813, 1.3794039487838745, 0.20590642094612122, 1.4153600931167603, 1.3084074258804321, 0.5627791881561279, -1.1066712141036987, 0.5441796779632568, 9.58738019107841e-05, 9.58738019107841e-05, 0.17717477679252625, -0.6000741124153137], "mean": [1.1709438562393188, -0.640425980091095, -0.220676988363266, 1.1463345289230347, 0.023403991013765335, 0.023850083351135254, 0.2841244637966156, 1.3268972635269165, 0.28195616602897644, -0.1612294763326645, 0.2533131539821625, 0.6364548206329346, 0.3886747360229492, 0.12976732850074768, 0.026458870619535446, 0.030331553891301155, 0.33879733085632324, 0.23021182417869568, 0.04428998753428459, 0.035558488219976425, 0.09626887738704681, 0.24626024067401886, 0.01413868647068739, 0.013861308805644512, 0.14908307790756226, 0.06787962466478348, 0.2405228316783905, 0.01190981175750494, 0.012435328215360641, 1.2586899995803833, -0.6186631917953491, -0.226559579372406, 1.3050575256347656, -1.2964355945587158, -0.3033067286014557, -0.016255728900432587, 1.2150343656539917, 0.05249164253473282, -0.007285295054316521, -0.008873729035258293, 0.19292965531349182, 0.8631417155265808, 0.04356794059276581, 0.174383282661438, 0.29140743613243103, 1.1599931716918945, -0.06016090512275696, 1.2497135400772095, 0.7083353400230408, 1.3062467575073242, -0.10977044701576233, 1.352151870727539, 0.8463479280471802, 0.04242623969912529, 1.247241735458374, -0.1280425488948822, 0.9611034989356995, 1.240580439567566, 0.5626893639564514, -1.1068470478057861, 0.544015109539032, -0.0007387057994492352, -8.755597491472145e-08, 0.13859963417053223, -0.7828581929206848], "std": [0.04657474905252457, 0.04583773389458656, 0.019676532596349716, 0.09886334091424942, 0.02091025747358799, 0.14975015819072723, 0.08077014237642288, 0.14163240790367126, 0.033061783760786057, 0.0443883053958416, 0.033802952617406845, 0.08066879212856293, 0.05599125102162361, 0.020234420895576477, 0.0032346006482839584, 0.004029742442071438, 0.06944873929023743, 0.03556974604725838, 0.0068698157556355, 0.0067315795458853245, 0.03519338741898537, 0.04095545411109924, 0.004792741034179926, 0.00421510124579072, 0.041864365339279175, 0.040097255259752274, 0.03775927051901817, 0.006767732091248035, 0.006535663735121489, 0.11428086459636688, 0.1751343309879303, 0.02126353234052658, 0.1841912865638733, 0.3117881715297699, 0.14018942415714264, 0.18273118138313293, 0.153302401304245, 0.07969777286052704, 0.11213849484920502, 0.07508262991905212, 0.14364798367023468, 0.20656807720661163, 0.03070870041847229, 0.15126757323741913, 0.15344998240470886, 0.23442451655864716, 0.02843465283513069, 0.28080904483795166, 0.17629539966583252, 0.27673473954200745, 0.04652697220444679, 0.3045493960380554, 0.23597535490989685, 0.028195181861519814, 0.26729297637939453, 0.054452624171972275, 0.24992352724075317, 0.2792467474937439, 3.597060276661068e-05, 4.374425043351948e-05, 6.283781112870201e-05, 0.00022395163250621408, 7.096318313415395e-06, 0.028780106455087662, 0.03858097270131111], "count": [2190]}, "observation.state.joint_torque": {"min": [-45.076499938964844, -4.327499866485596, -23.773000717163086, -6.901000022888184, -0.5288000106811523, -0.8560000061988831, 1.1887999773025513, -3.2716920375823975, -1.3919655084609985, -0.2994881868362427, -1.3980257511138916, -0.9214420318603516, -1.8258603811264038, -0.47397536039352417, -0.06641025096178055, -0.039956167340278625, -0.39913710951805115, -0.5171512365341187, -0.11787818372249603, -0.033534638583660126, -0.22163623571395874, -0.5987056493759155, -0.05810895934700966, -0.03068062849342823, -0.1833970546722412, -0.27632570266723633, -0.7061656713485718, -0.11289741843938828, -0.027826614677906036, 12.753000259399414, -12.115500450134277, 5.857999801635742, -11.416999816894531, -2.3368000984191895, -1.785599946975708, -3.183199882507324, -1.2455099821090698, -0.9678808450698853, -0.48713430762290955, -0.8748534917831421, -0.2673012316226959, -0.8903828263282776, -1.0458160638809204, -0.14444229006767273, -0.06492877006530762, -1.4152097702026367, -1.489088535308838, -0.13614100217819214, -0.06706927716732025, -0.27344730496406555, -1.017991542816162, -0.10459613054990768, -0.04709119349718094, -0.4063761830329895, -0.49412405490875244, -0.5814353227615356, -0.49973708391189575, -0.12629002332687378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.908000946044922, 8.640000343322754, -8.930000305175781, 0.8069999814033508, 1.9503999948501587, 1.2408000230789185, 3.4495999813079834, 0.2712613642215729, 0.2712613642215729, 1.209136962890625, 0.3827483654022217, 0.12119869887828827, 0.31566372513771057, 0.3079880177974701, 0.07637178897857666, 0.015697065740823746, 0.3885830342769623, 0.3578801453113556, 0.12783971428871155, 0.021405089646577835, 0.2580958604812622, 0.4260021150112152, 0.09961536526679993, 0.016410568729043007, 0.0672895684838295, 0.20436589419841766, 0.2983933687210083, 0.07803203910589218, 0.01855107769370079, 38.43899917602539, 17.050500869750977, 19.31100082397461, 5.011000156402588, 0.46720001101493835, 3.285599946975708, 0.31439998745918274, 2.5164902210235596, 4.46753454208374, 2.3722941875457764, 1.2998532056808472, 0.67572420835495, 2.1472809314727783, 0.5459350943565369, 1.0575830936431885, 0.21476440131664276, 0.7407063841819763, 0.27536624670028687, 0.11289741843938828, 0.15554364025592804, 0.7627740502357483, 0.29455551505088806, 0.1062563955783844, 0.13128454983234406, 0.11786669492721558, 0.5238674879074097, 0.5075565576553345, 0.12783971428871155, 0.19335931539535522, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.74691390991211, 1.741556167602539, -13.132613182067871, -1.6499152183532715, -0.27071288228034973, -0.1955220252275467, 1.6974222660064697, -0.00608443608507514, -0.0007181696128100157, 0.03524653986096382, 0.022703852504491806, 0.00039952268707565963, 0.011713349260389805, 0.00848269835114479, 3.487267531454563e-05, -6.744020356563851e-05, 0.024302586913108826, -0.007520174141973257, 0.00048518949188292027, 0.00022740807617083192, 0.03341935947537422, 0.026602182537317276, 0.0019013361306861043, 3.486126661300659e-05, -0.005162935238331556, 0.016147512942552567, 0.017320798709988594, 0.0009779586689546704, 0.00022577938216272742, 27.432559967041016, 0.8629873991012573, 12.960941314697266, -1.8626580238342285, -0.5420131683349609, 1.5060784816741943, -1.0198673009872437, 0.4051072895526886, 1.3909242153167725, 0.3551260828971863, 0.11340419948101044, 0.12852273881435394, 0.8340485095977783, -0.12360700219869614, 0.39857017993927, 0.11132053285837173, -0.12831678986549377, -0.2528298795223236, -0.001341093797236681, -0.0012458607088774443, -0.004420106764882803, -0.026171477511525154, 0.001101533300243318, -0.002549712546169758, -0.0036736440379172564, -0.012936531566083431, 0.0010497160255908966, -0.020011022686958313, -8.894001075532287e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9255977272987366, 0.9488325119018555, 0.8365079760551453, 0.67598557472229, 0.2925081253051758, 0.3487800657749176, 0.20178447663784027, 0.07687605917453766, 0.037157513201236725, 0.05782834440469742, 0.06070071458816528, 0.02113940380513668, 0.06497404724359512, 0.06114909052848816, 0.006461984012275934, 0.003927770536392927, 0.048596642911434174, 0.04384635388851166, 0.010161757469177246, 0.0038650110363960266, 0.0495201013982296, 0.06693501025438309, 0.010031201876699924, 0.00430887658149004, 0.014927522279322147, 0.03117455169558525, 0.061625994741916656, 0.008206402882933617, 0.0032057936768978834, 4.191930770874023, 2.1408467292785645, 1.3139216899871826, 1.8265849351882935, 0.333247572183609, 0.5921830534934998, 0.46965277194976807, 0.6355435848236084, 1.5078977346420288, 0.49760764837265015, 0.2743610441684723, 0.15979139506816864, 0.8812423348426819, 0.26094287633895874, 0.41600361466407776, 0.10389111936092377, 0.3210870027542114, 0.3050532937049866, 0.024782607331871986, 0.009458689019083977, 0.07429831475019455, 0.07427648454904556, 0.021776394918560982, 0.010539445094764233, 0.027527330443263054, 0.13527855277061462, 0.09897058457136154, 0.04447587952017784, 0.015123884193599224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2190]}, "observation.state.tcp": {"min": [0.36193031072616577, 0.1910567581653595, 0.9497209787368774, -1.2685869932174683, 1.2187392711639404, -1.6336621046066284, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25654223561286926, -0.300686240196228, 0.9489481449127197, -0.6708532571792603, 1.2186063528060913, 0.3417443037033081, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42040756344795227, 0.23525665700435638, 1.0544761419296265, -0.9771615266799927, 1.9312435388565063, -1.2297308444976807, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.468119740486145, -0.04659779742360115, 1.1506953239440918, 1.2515735626220703, 1.9723331928253174, 1.5564286708831787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41029295325279236, 0.20529025793075562, 0.9962259531021118, -1.174173355102539, 1.801930546760559, -1.499139666557312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3986395001411438, -0.1490710973739624, 1.0519050359725952, -0.1887379288673401, 1.7547327280044556, 0.7014097571372986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00926383025944233, 0.00806772243231535, 0.027230113744735718, 0.06097187474370003, 0.1322897970676422, 0.04381091892719269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05593263357877731, 0.0572378896176815, 0.04857314005494118, 0.30509814620018005, 0.1357000768184662, 0.1831308752298355, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2190]}, "action": {"min": [1.0500586032867432, -0.7891526222229004, -0.2231942117214203, 1.0325188636779785, -0.030493920668959618, -0.7693853974342346, 0.20209403336048126, 0.0, 0.0, -0.27235957980155945, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9572864174842834, -1.0617702007293701, -0.24217720329761505, 1.039615511894226, -1.7069569826126099, -0.7671332955360413, -0.4191335439682007, 0.0, -0.15122255682945251, -0.2848387360572815, -0.13325655460357666, 0.0, 0.0, -0.19354987144470215, 0.0, 0.0, 0.0, -0.09851619601249695, 0.0, 0.0, 0.0, -0.14714035391807556, 0.0, 0.0, 0.0, 0.0, -0.16505670547485352, 0.0, 0.0, 0.5624918341636658, -1.1069587469100952, 0.543892502784729, -0.00123838079161942, -1.3579263395513408e-05, -9.387995372303207e-18, -0.8696511387825012], "max": [1.2369436025619507, -0.5812590718269348, -0.0002642603649292141, 1.5696861743927002, 0.0536983385682106, 0.1670190691947937, 0.6236291527748108, 1.3706609010696411, 0.29290273785591125, 0.0, 0.27470889687538147, 0.661741316318512, 0.4363226294517517, 0.145620197057724, 0.03763754293322563, 0.03750083968043327, 0.3997271656990051, 0.248234823346138, 0.05529285967350006, 0.04271785169839859, 0.14058314263820648, 0.2722729742527008, 0.024466808885335922, 0.022184010595083237, 0.26180002093315125, 0.11032068729400635, 0.26468324661254883, 0.023717883974313736, 0.02227126620709896, 1.4581987857818604, -0.3280813694000244, -0.0017377628246322274, 1.7210147380828857, 0.16147278249263763, -0.005244015716016293, 0.6086838245391846, 1.3919860124588013, 0.290426641702652, 0.27010419964790344, 0.287013977766037, 0.6509321928024292, 1.1662636995315552, 0.10916458070278168, 0.7398553490638733, 0.6547081470489502, 1.3259345293045044, 0.21077917516231537, 1.396101713180542, 0.9391751289367676, 1.4401839971542358, 0.22837874293327332, 1.514676809310913, 1.1420985460281372, 0.26180002093315125, 1.3863296508789062, 0.23271726071834564, 1.4187572002410889, 1.4485048055648804, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 5.762006376429704e-20, 1.345066812064033e-05, 0.17801842093467712, -0.6000000238418579], "mean": [1.171010971069336, -0.6404834985733032, -0.22069504857063293, 1.1463907957077026, 0.02338351681828499, 0.02365030348300934, 0.28424176573753357, 1.330304741859436, 0.28649523854255676, -0.15854771435260773, 0.25544071197509766, 0.6399981379508972, 0.396169513463974, 0.13085463643074036, 0.035180628299713135, 0.03511558845639229, 0.3462425172328949, 0.23148612678050995, 0.05105946585536003, 0.038936976343393326, 0.10056018084287643, 0.2480570524930954, 0.019396238029003143, 0.01759752258658409, 0.1540498584508896, 0.0723704993724823, 0.24393831193447113, 0.016260189935564995, 0.01536413375288248, 1.2599220275878906, -0.6197749376296997, -0.22657793760299683, 1.3057985305786133, -1.2960494756698608, -0.3037169277667999, -0.016335949301719666, 1.2166274785995483, 0.05664734169840813, -0.0068946159444749355, -0.008630077354609966, 0.19279931485652924, 0.8814513087272644, 0.03450486809015274, 0.1788695603609085, 0.3274855613708496, 1.1606605052947998, -0.060219570994377136, 1.2506741285324097, 0.7092947959899902, 1.3075158596038818, -0.1100853756070137, 1.3546720743179321, 0.8475698828697205, 0.03717225417494774, 1.2477929592132568, -0.12895694375038147, 0.9610152244567871, 1.322456955909729, 0.5626921653747559, -1.106855034828186, 0.5440660119056702, -0.0007892288849689066, 2.4692661781955394e-07, 0.13863930106163025, -0.7829135656356812], "std": [0.04655689373612404, 0.0458897165954113, 0.019617801532149315, 0.09891342371702194, 0.020914927124977112, 0.15017767250537872, 0.08096931874752045, 0.15390892326831818, 0.03390130773186684, 0.04415259510278702, 0.03440394997596741, 0.08002068847417831, 0.05626298487186432, 0.019714614376425743, 0.004672266077250242, 0.004646336194127798, 0.07082527130842209, 0.034988176077604294, 0.008890131488442421, 0.006883091758936644, 0.03618045523762703, 0.03997142240405083, 0.0054670837707817554, 0.0049763941206038, 0.04515990614891052, 0.04121607542037964, 0.03737641125917435, 0.00859626941382885, 0.008041500113904476, 0.11410491168498993, 0.17594702541828156, 0.021192394196987152, 0.18457505106925964, 0.3138221800327301, 0.14062832295894623, 0.18314529955387115, 0.16395194828510284, 0.08244094252586365, 0.1130828782916069, 0.07478228956460953, 0.14436978101730347, 0.2121228575706482, 0.026558153331279755, 0.1510917991399765, 0.17177331447601318, 0.22847720980644226, 0.030724558979272842, 0.2758961319923401, 0.17398811876773834, 0.27018409967422485, 0.04668368026614189, 0.29965484142303467, 0.23356252908706665, 0.031488846987485886, 0.2610180974006653, 0.0539621002972126, 0.24644461274147034, 0.2964620590209961, 1.4476895557891112e-05, 1.120697197620757e-05, 4.125753548578359e-05, 0.00021669013949576765, 6.641111212957185e-06, 0.028889771550893784, 0.03866085037589073], "count": [2190]}, "observation.state.tcp_pose": {"min": [0.36193031072616577, 0.1910567581653595, 0.9497209787368774, -1.2685869932174683, 1.2187392711639404, -1.6336621046066284, 0.25654223561286926, -0.300686240196228, 0.9489481449127197, -0.6708532571792603, 1.2186063528060913, 0.3417443037033081], "max": [0.42040756344795227, 0.23525665700435638, 1.0544761419296265, -0.9771615266799927, 1.9312435388565063, -1.2297308444976807, 0.468119740486145, -0.04659779742360115, 1.1506953239440918, 1.2515735626220703, 1.9723331928253174, 1.5564286708831787], "mean": [0.41029295325279236, 0.20529025793075562, 0.9962259531021118, -1.174173355102539, 1.801930546760559, -1.499139666557312, 0.3986395001411438, -0.1490710973739624, 1.0519050359725952, -0.1887379288673401, 1.7547327280044556, 0.7014097571372986], "std": [0.00926383025944233, 0.00806772243231535, 0.027230113744735718, 0.06097187474370003, 0.1322897970676422, 0.04381091892719269, 0.05593263357877731, 0.0572378896176815, 0.04857314005494118, 0.30509814620018005, 0.1357000768184662, 0.1831308752298355], "count": [2190]}, "action.tcp_pose": {"min": [0.3617897629737854, 0.1910647302865982, 0.9496809244155884, -1.268490195274353, 1.2181378602981567, -1.6309406757354736, 0.2565135061740875, -0.3086378872394562, 0.9493337273597717, -0.671144962310791, 1.2193827629089355, 0.34122610092163086], "max": [0.4203685522079468, 0.23567165434360504, 1.0544631481170654, -0.9773706197738647, 1.9312586784362793, -1.2292633056640625, 0.4679979383945465, -0.0465710423886776, 1.1506497859954834, 1.2657688856124878, 1.972750186920166, 1.5564069747924805], "mean": [0.41031068563461304, 0.2053176462650299, 0.9962263107299805, -1.1741328239440918, 1.8017220497131348, -1.499068260192871, 0.39878618717193604, -0.14945301413536072, 1.0525538921356201, -0.18811970949172974, 1.7526507377624512, 0.7012395858764648], "std": [0.009235886856913567, 0.008103886619210243, 0.027262074872851372, 0.0610593818128109, 0.13262782990932465, 0.043950796127319336, 0.0558285117149353, 0.057670094072818756, 0.048712365329265594, 0.30674314498901367, 0.13770757615566254, 0.18399478495121002], "count": [2190]}, "subtask_index": {"min": [50], "max": [538], "mean": [498.65342465753423], "std": [76.7368626904805], "count": [2190]}, "observation.tactile": {"min": [-0.009268151596188545, -4.069952410645783e-05, -8.924144640332088e-05, -0.001614592270925641, -5.26615149283316e-05, -0.00016615290951449424, -0.006124839652329683, -4.870244811172597e-05, -0.00011219033331144601, -0.0006301761022768915, -3.7220247577351984e-06, -0.00013092644803691655, -0.011402329429984093, -4.729502688860521e-05, -0.00010386286157881841, -0.001091343816369772, -2.504657459212467e-05, -0.0002518551191315055, -0.011425541713833809, -3.6475201341090724e-05, -8.043307752814144e-05, -0.0010821331525221467, -5.11114631081e-05, -0.0002488645550329238, -0.009715753607451916, -4.4497563067125157e-05, -9.913014946505427e-05, -0.0007950771250762045, -1.0838595699169673e-05, -0.00019674298528116196, -0.9857691526412964, -3.804220978054218e-05, -8.85664630914107e-05, -0.19558115303516388, -0.012803620658814907, -0.02888469584286213, -6.678839206695557, -0.668779730796814, -9.50353714870289e-05, -0.2482653707265854, -0.027190713211894035, -0.11417993158102036, -0.012574228458106518, -4.613148121279664e-05, -0.00010157967335544527, -0.002049695933237672, -4.231187267578207e-05, -0.0002771677973214537, -0.009410223923623562, -5.105032687424682e-05, -0.00011517571692820638, -0.0016499691409990191, -9.285402484238148e-05, -0.00018804841965902597, -0.24010629951953888, -4.400130274007097e-05, -9.76313604041934e-05, -0.0015838713152334094, -8.973662625066936e-05, -0.0029765681829303503], "max": [0.0037196034099906683, 0.028690755367279053, 0.08326100558042526, 1.6985421780191245e-06, 0.0002767555706668645, 3.659300637082197e-05, 0.00035594648215919733, 0.010207130573689938, 0.030507702380418777, 1.9272288227512036e-06, 0.00010278887930326164, 7.0012906689953525e-06, 0.0025619063526391983, 0.016157856211066246, 0.04675070941448212, 1.9298813640489243e-06, 0.00016042387869674712, 7.635811016371008e-06, 0.006977487355470657, 0.02064891904592514, 0.05967323109507561, 1.5029659152787644e-06, 0.00025259109679609537, 5.875399801880121e-05, 0.00034336032695136964, 0.014247747138142586, 0.04208866134285927, 1.858746713878645e-06, 9.729668090585619e-05, 7.243734671646962e-06, 4.469216346740723, 6.823205471038818, 11.826753616333008, 1.637573063817399e-06, 0.03617890551686287, 0.06766953319311142, 0.005842454265803099, 5.404627323150635, 12.686972618103027, 1.7898075839184457e-06, 0.0012514039408415556, 4.1734798287507147e-05, 0.032981161028146744, 0.032116327434778214, 0.09277503937482834, 1.868344156719104e-06, 0.00023859237262513489, 0.0005027707084082067, 0.001026736106723547, 0.024179697036743164, 0.07062213122844696, 2.073584710160503e-06, 0.0001629249018151313, 8.368470844288822e-06, 0.0019448531093075871, 0.03411804884672165, 0.07222454249858856, 1.8166259678764618e-06, 0.0006910678348504007, 1.3014414435019717e-05], "mean": [-0.0004949909052811563, 0.0029184329323470592, 0.008627640083432198, -0.00014676240971311927, 2.0753501303261146e-05, -1.3641219084092882e-05, 0.0002558795385994017, 5.68789619137533e-05, 0.0001991414901567623, -3.677232825793908e-06, -9.996647349908017e-07, 4.836991138290614e-06, -7.52472915337421e-05, 0.000655702839139849, 0.001959762070327997, -4.1244733438361436e-05, 2.3293252979783574e-06, -3.00103329209378e-06, -0.0007569267763756216, 0.0025608157739043236, 0.007474344689399004, -0.00012375134974718094, 1.7189624486491084e-05, -1.6590282029937953e-05, -0.0003746383299585432, 0.001221182057633996, 0.0036214939318597317, -5.534535011975095e-05, 6.436923740693601e-06, -6.89085300109582e-06, 0.8332107067108154, 2.281461477279663, 4.352219581604004, -0.0705467015504837, 0.006223990581929684, 0.010979199782013893, -2.0832533836364746, 0.8863767385482788, 4.430338382720947, -0.07631674408912659, -0.004844283685088158, -0.03513972461223602, -0.0006409293855540454, 0.0074285357259213924, 0.02155885472893715, -0.00048390153096988797, 2.957421565952245e-05, -2.8449241654016078e-05, -0.0009123242343775928, 0.0031879087910056114, 0.009484954178333282, -0.0001832878333516419, 4.922955213260138e-06, -2.1681611542589962e-05, -0.002387820975854993, 0.0061424714513123035, 0.01751107908785343, -0.0003890741500072181, -1.4932677913748194e-05, -4.4324839109322056e-05], "std": [0.0012113555567339063, 0.004201519303023815, 0.01228389237076044, 0.00022936526511330158, 4.5649092498933896e-05, 2.7147845685249195e-05, 0.0003471813688520342, 0.0004637892416212708, 0.001370438956655562, 2.604481232992839e-05, 3.9195010685944e-06, 7.540495971625205e-06, 0.0012267293641343713, 0.0019921674393117428, 0.0058507416397333145, 0.00012629177945200354, 1.3613262126455083e-05, 2.8288726753089577e-05, 0.001612614607438445, 0.00357631454244256, 0.010409045964479446, 0.0001804088824428618, 3.8404425140470266e-05, 3.0162791517795995e-05, 0.0011340032797306776, 0.0020360834896564484, 0.006010865792632103, 9.477301500737667e-05, 1.2926492672704626e-05, 2.2316033209790476e-05, 1.1059170961380005, 2.126645565032959, 3.995316743850708, 0.06608892977237701, 0.010508149862289429, 0.019194163382053375, 2.0020625591278076, 0.9995706081390381, 4.129323482513428, 0.07062850147485733, 0.006114867515861988, 0.03401150181889534, 0.0030713274609297514, 0.006319708656519651, 0.0181452464312315, 0.00041260631405748427, 3.633938467828557e-05, 5.271881309454329e-05, 0.0016700949054211378, 0.0036335326731204987, 0.010708725079894066, 0.00024170945107471198, 2.963375300168991e-05, 3.341058982186951e-05, 0.007847055792808533, 0.004110151436179876, 0.011595292948186398, 0.00026076598442159593, 3.4483327908674255e-05, 9.669292194303125e-05], "count": [2190]}, "timestamp": {"min": [0.0], "max": [72.96666666666667], "mean": [36.483333333333334], "std": [21.073282628502394], "count": [2190]}, "frame_index": {"min": [0], "max": [2189], "mean": [1094.5], "std": [632.1984788550718], "count": [2190]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2190]}, "index": {"min": [22703], "max": [24892], "mean": [23797.5], "std": [632.1984788550718], "count": [2190]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2190]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5706745386123657]], [[0.5717758536338806]], [[0.5724490880966187]]], "std": [[[0.3022069036960602]], [[0.3010302186012268]], [[0.30122479796409607]]], "count": [2190]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3048718273639679]], [[0.3077406883239746]], [[0.30523359775543213]]], "std": [[[0.18312157690525055]], [[0.1829378455877304]], [[0.18270590901374817]]], "count": [2190]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30924367904663086]], [[0.31203222274780273]], [[0.3090628981590271]]], "std": [[[0.18455664813518524]], [[0.1833605021238327]], [[0.18249724805355072]]], "count": [2190]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573959231376648]], [[0.5746757984161377]], [[0.5748985409736633]]], "std": [[[0.3068782687187195]], [[0.30602893233299255]], [[0.3064924478530884]]], "count": [2190]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6039215922355652]], [[0.6039215922355652]], [[0.6039215922355652]]], "mean": [[[0.00355666340328753]], [[0.00355666340328753]], [[0.00355666340328753]]], "std": [[[0.03658322989940643]], [[0.03658322989940643]], [[0.03658322989940643]]], "count": [2190]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4902040660381317]], [[0.4902040660381317]], [[0.4902040660381317]]], "std": [[[0.22103120386600494]], [[0.22103120386600494]], [[0.22103120386600494]]], "count": [2190]}}}
+{"episode_index": 10, "stats": {"observation.state": {"min": [1.043741226196289, -0.7799871563911438, -0.22434672713279724, 1.0029640197753906, 1.8815233488567173e-05, -0.7699071168899536, 0.15142320096492767, 0.0068772900849580765, -0.00022638811788056046, -0.25497299432754517, 0.0057035181671381, 0.003489253344014287, 0.0036431611515581608, -0.05915531888604164, 0.0034952808637171984, 0.0008580232970416546, 0.00024948432110249996, -0.018439777195453644, 0.0030793785117566586, 0.000826096860691905, -0.0033056086394935846, -0.003869340755045414, 0.0026308565866202116, 0.0008398429490625858, 0.0058762128464877605, -0.0022561545483767986, 0.004424241371452808, 0.002327350666746497, 0.0008686654036864638, 0.9903571605682373, -1.0927116870880127, -0.2430894523859024, 1.0969336032867432, -1.689046025276184, -0.768984317779541, -0.29842397570610046, 0.005460420623421669, -0.1528831273317337, -0.2905229926109314, -0.1822824627161026, 0.0032690695952624083, 0.005327488295733929, -0.09316369891166687, 0.003550592577084899, 0.0008522588177584112, -9.174754086416215e-05, -0.09492894262075424, 0.003448123810812831, 0.0008655614801682532, -0.0017760744085535407, -0.14317664504051208, 0.0034874803386628628, 0.0008358521736226976, 0.006696099415421486, -0.0020483690313994884, -0.16529442369937897, 0.003244959283620119, 0.0008997050463221967, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.000862864195369184, -9.58738019107841e-05, -9.58738019107841e-05, -0.7718799710273743], "max": [1.2653857469558716, -0.5416371822357178, -9.203884837916121e-05, 1.5699001550674438, 0.1087271198630333, 0.08753685653209686, 0.6697900891304016, 1.3742470741271973, 0.2956823706626892, 0.0020073021296411753, 0.27624401450157166, 0.5963726043701172, 0.5348894000053406, 0.12849679589271545, 0.037856325507164, 0.045470356941223145, 0.45414501428604126, 0.20934082567691803, 0.07787051051855087, 0.04105697199702263, 0.06848437339067459, 0.21633252501487732, 0.008865135721862316, 0.00844498910009861, 0.24079948663711548, 0.12931466102600098, 0.2298751026391983, 0.02272925339639187, 0.022411921992897987, 1.4436085224151611, -0.32887083292007446, -0.0005594236426986754, 1.76224684715271, 0.07167800515890121, -0.013990024104714394, 0.6333523988723755, 1.3507329225540161, 0.26697608828544617, 0.1415085345506668, 0.28314778208732605, 0.8645012378692627, 1.071759581565857, 0.10128287971019745, 0.6872616410255432, 0.5487868189811707, 1.259796380996704, 0.1805298924446106, 1.3350621461868286, 0.7030531764030457, 1.4132496118545532, 0.18595674633979797, 1.5026257038116455, 1.0275003910064697, 0.24198651313781738, 1.39532470703125, 0.2036333531141281, 1.4593011140823364, 1.3124927282333374, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.12358132749795914, -0.5722706913948059], "mean": [1.1499220132827759, -0.6128342151641846, -0.2213953137397766, 1.1274900436401367, 0.09870731085538864, -0.06474703550338745, 0.3157229423522949, 1.3060930967330933, 0.2853054702281952, -0.14182984828948975, 0.23673148453235626, 0.5688936114311218, 0.48473694920539856, 0.11769246309995651, 0.03690414875745773, 0.0397179089486599, 0.40484341979026794, 0.1852206289768219, 0.06272375583648682, 0.0389513224363327, 0.044096097350120544, 0.18965353071689606, 0.0035451343283057213, 0.004640625324100256, 0.08828438073396683, 0.09548230469226837, 0.20891888439655304, 0.016145162284374237, 0.016717206686735153, 1.2510755062103271, -0.6238939166069031, -0.22462065517902374, 1.3385342359542847, -1.330716609954834, -0.3303469717502594, -0.046906862407922745, 1.2473633289337158, 0.08422388136386871, 0.0001659263070905581, -0.0733717679977417, 0.2303609848022461, 0.8156023025512695, 0.05061477795243263, 0.21221008896827698, 0.1935025155544281, 1.139073133468628, -0.06114165484905243, 1.1754409074783325, 0.47666987776756287, 1.2933460474014282, -0.11061670631170273, 1.3031693696975708, 0.7213929295539856, 0.036881763488054276, 1.2564347982406616, -0.1278189867734909, 0.9746930599212646, 1.2392863035202026, 0.562690019607544, -1.1068474054336548, 0.5440762042999268, -0.0005725205992348492, -2.226516500059006e-07, 0.09894658625125885, -0.7215641736984253], "std": [0.060726527124643326, 0.04591412842273712, 0.021446354687213898, 0.09887437522411346, 0.021452508866786957, 0.13065755367279053, 0.1116037368774414, 0.14038604497909546, 0.03403248265385628, 0.0417671799659729, 0.04453828185796738, 0.07183969020843506, 0.07184794545173645, 0.022144325077533722, 0.0047986810095608234, 0.005467536393553019, 0.08027203381061554, 0.034479770809412, 0.011137258261442184, 0.007257644087076187, 0.012467789463698864, 0.03567377105355263, 0.0019587844144552946, 0.0023001425433903933, 0.023704059422016144, 0.023064449429512024, 0.03289135918021202, 0.0037420103326439857, 0.0036020437255501747, 0.10951201617717743, 0.1651364266872406, 0.022969430312514305, 0.17169226706027985, 0.332928329706192, 0.14720293879508972, 0.18265435099601746, 0.16557061672210693, 0.06919705867767334, 0.10110315680503845, 0.08441042900085449, 0.19659101963043213, 0.197038933634758, 0.030310608446598053, 0.1522267460823059, 0.12390731275081635, 0.24025245010852814, 0.029304275289177895, 0.2725863456726074, 0.12011265009641647, 0.28437158465385437, 0.04453544318675995, 0.3037826716899872, 0.20932526886463165, 0.029468251392245293, 0.278473824262619, 0.05440274253487587, 0.25640571117401123, 0.2846861481666565, 3.423276211833581e-05, 4.394502320792526e-05, 3.768442911677994e-05, 0.00013819383457303047, 9.906744708132464e-06, 0.021332714706659317, 0.04443451762199402], "count": [2153]}, "observation.state.joint_torque": {"min": [-35.981998443603516, -8.604000091552734, -18.985000610351562, -7.118000030517578, -0.40639999508857727, -1.0088000297546387, -0.23520000278949738, -0.5399757027626038, -0.4100758731365204, -0.5529968738555908, -0.40387409925460815, -0.1062563955783844, -0.5497730374336243, -0.520029604434967, -0.08965382725000381, -0.04138316959142685, -0.3012717664241791, -0.4384751617908478, -0.12285894900560379, -0.032821137458086014, -0.2177983820438385, -0.4922051727771759, -0.06973075866699219, -0.03567514568567276, -0.11170948296785355, -0.25042015314102173, -0.45094820857048035, -0.1328205019235611, -0.02925362065434456, 13.150500297546387, -11.161499977111816, 1.5490000247955322, -8.890999794006348, -1.86080002784729, -3.4647998809814453, -3.5552000999450684, -1.33975088596344, -1.3805038928985596, -0.5368418097496033, -0.8475143313407898, -0.2556794285774231, -0.5411378145217896, -0.8769503831863403, -0.23243583738803864, -0.13770607113838196, -0.7973148226737976, -1.305830955505371, -0.12617947161197662, -0.050658710300922394, -0.25905534625053406, -0.5507324934005737, -0.10127562284469604, -0.04851820319890976, -0.177679643034935, -0.357880175113678, -1.4507099390029907, -0.335371732711792, -0.11344698071479797, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.10849952697754, 12.204000473022461, -8.263999938964844, 2.9549999237060547, 1.544800043106079, 1.2984000444412231, 3.135200023651123, 0.26234668493270874, 0.26234668493270874, 0.33304083347320557, 0.39268991351127625, 0.1145576685667038, 0.3617180287837982, 0.25617697834968567, 0.09131408482789993, 0.01712406985461712, 0.5075566172599792, 0.3175826668739319, 0.18926919996738434, 0.01212955079972744, 0.31182587146759033, 0.41256964206695557, 0.07139100879430771, 0.012843053787946701, 0.051896531134843826, 0.30702853202819824, 0.4970024824142456, 0.09961536526679993, 0.013556556776165962, 48.6614990234375, 15.016500473022461, 25.28499984741211, 6.466000080108643, 0.35040000081062317, 3.4495999813079834, 1.3904000520706177, 2.4706435203552246, 4.826669216156006, 2.496563196182251, 1.5173239707946777, 0.6574614644050598, 2.148240566253662, 0.5468947291374207, 1.0592433214187622, 0.21476440131664276, 0.6888952851295471, 0.2580958604812622, 0.6890062689781189, 0.14983563125133514, 0.9575453400611877, 0.22067677974700928, 0.7056087851524353, 0.15483014285564423, 0.10951047390699387, 0.513313353061676, 0.3665153384208679, 0.6939870119094849, 0.15054912865161896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.606510162353516, 1.693353533744812, -12.727768898010254, -1.6878414154052734, -0.022295989096164703, -0.24088729918003082, 1.6048321723937988, 0.0012114177225157619, -0.005154442973434925, 0.027244562283158302, 0.003029091749340296, 0.0014690166572108865, 0.009170832112431526, 0.0034586049150675535, -7.171604374889284e-05, 2.850048986147158e-05, 0.011655259877443314, 0.00046791319618932903, -0.0016016496811062098, -0.00024324722471646965, 0.01602431759238243, 0.014496690593659878, -0.00023673924442846328, -0.00038243504241108894, -0.0030702308285981417, 0.010132052935659885, 0.012100915424525738, 0.001388816861435771, -2.253484672110062e-05, 26.996461868286133, 0.8677873015403748, 12.900253295898438, -2.14522385597229, -0.6295940279960632, 1.4761252403259277, -0.9554381370544434, 0.3413841724395752, 1.4892417192459106, 0.4605482816696167, 0.18438957631587982, 0.14855319261550903, 1.0733485221862793, -0.05341806262731552, 0.4368846118450165, 0.11331994831562042, -0.06920934468507767, -0.1550789177417755, -0.0005058614769950509, -0.0007589046726934612, 0.004512110259383917, -0.010719000361859798, 0.00035086696152575314, -0.0018733981996774673, -0.003526376560330391, 0.007559846621006727, -0.007741664070636034, -0.010775097645819187, -0.0009951931424438953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9966495037078857, 1.051488995552063, 1.0549875497817993, 0.7214314937591553, 0.25890448689460754, 0.36166778206825256, 0.2989104986190796, 0.04000391811132431, 0.02778111770749092, 0.05771857127547264, 0.05732926353812218, 0.011447856202721596, 0.05943046882748604, 0.04519699513912201, 0.007008698768913746, 0.004236126318573952, 0.04461488872766495, 0.04283320531249046, 0.013523045927286148, 0.0033199407625943422, 0.04121764749288559, 0.06291471421718597, 0.004724075086414814, 0.0038020689971745014, 0.012045142240822315, 0.03147825598716736, 0.07398916035890579, 0.009179148823022842, 0.003745690220966935, 4.134307384490967, 2.1465461254119873, 1.8821793794631958, 1.7109330892562866, 0.29113641381263733, 0.8330807685852051, 0.5485112071037292, 0.6940445899963379, 1.6044871807098389, 0.5948030352592468, 0.3710492253303528, 0.16895194351673126, 1.0062406063079834, 0.19586840271949768, 0.4337877333164215, 0.10485219955444336, 0.20118558406829834, 0.1936429738998413, 0.030363529920578003, 0.009580516256392002, 0.06552886962890625, 0.054397888481616974, 0.029444828629493713, 0.010970414616167545, 0.01853710599243641, 0.12243462353944778, 0.09098874032497406, 0.0416598916053772, 0.016105229035019875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2153]}, "observation.state.tcp": {"min": [0.36179181933403015, 0.18802978098392487, 0.9292520880699158, -1.3770129680633545, 1.2178682088851929, -1.6101398468017578, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25657710433006287, -0.2921592593193054, 0.9420993328094482, -0.7586725950241089, 1.2182749509811401, 0.4300764799118042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4205667972564697, 0.22558970749378204, 1.0637106895446777, -1.088505744934082, 1.9372713565826416, -1.2289557456970215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4607853889465332, -0.04700398072600365, 1.1340315341949463, 1.2082231044769287, 1.9884268045425415, 1.629206657409668, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4106224775314331, 0.2023220956325531, 0.9856584072113037, -1.2757267951965332, 1.707737684249878, -1.4529718160629272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39194056391716003, -0.1441165804862976, 1.0508031845092773, -0.20073232054710388, 1.7252001762390137, 0.6858434677124023, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010570011101663113, 0.007909810170531273, 0.03454425558447838, 0.07297626882791519, 0.1439332515001297, 0.04730362445116043, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.053100429475307465, 0.059305861592292786, 0.04601746052503586, 0.3373267948627472, 0.1333356499671936, 0.1944829523563385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2153]}, "action": {"min": [1.0437496900558472, -0.7799879908561707, -0.22434470057487488, 1.0029300451278687, 2.8421866318240063e-06, -0.7699030041694641, 0.15143147110939026, 0.0, 0.0, -0.2573208808898926, 0.0, 0.0, 0.0, -0.05733921006321907, 0.0, 0.0, 0.0, -0.02785971201956272, 0.0, 0.0, 0.0, -0.014917459338903427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9903615713119507, -1.0928524732589722, -0.24306923151016235, 1.0969302654266357, -1.689062476158142, -0.7678969502449036, -0.2984537184238434, 0.0, -0.15814408659934998, -0.29090073704719543, -0.18446339666843414, 0.0, 0.0, -0.09437383711338043, 0.0, 0.0, 0.0, -0.10095425695180893, 0.0, 0.0, 0.0, -0.1457097828388214, 0.0, 0.0, 0.0, 0.0, -0.16645635664463043, 0.0, 0.0, 0.5625877380371094, -1.1069587469100952, 0.5439885258674622, -0.0009378292015753686, -1.2781603800249286e-05, -4.641271125955942e-18, -0.7733985185623169], "max": [1.2657474279403687, -0.5416395664215088, -3.449169162195176e-05, 1.5699530839920044, 0.10872089117765427, 0.08757444471120834, 0.6698474287986755, 1.3855335712432861, 0.29399314522743225, 0.0, 0.27698642015457153, 0.6008278727531433, 0.5454628467559814, 0.13029831647872925, 0.045874856412410736, 0.04712734371423721, 0.45699581503868103, 0.2094181478023529, 0.08397458493709564, 0.045844145119190216, 0.07110907882452011, 0.22302423417568207, 0.011921541765332222, 0.011825277470052242, 0.26180002093315125, 0.13315719366073608, 0.23126159608364105, 0.02656705491244793, 0.024545947089791298, 1.4435973167419434, -0.32886144518852234, -0.0036740826908499002, 1.7622978687286377, 0.07284894585609436, -0.013742330484092236, 0.6340487599372864, 1.3554607629776, 0.2882387638092041, 0.15927349030971527, 0.28804707527160645, 0.8680415749549866, 1.154019832611084, 0.08825159072875977, 0.6992323398590088, 0.6423382759094238, 1.3665053844451904, 0.20375627279281616, 1.3401474952697754, 0.7047578692436218, 1.4178144931793213, 0.20510336756706238, 1.504723072052002, 1.0282870531082153, 0.26180002093315125, 1.4017096757888794, 0.23303376138210297, 1.4619898796081543, 1.4657641649246216, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 2.161321360560018e-21, 1.4094071957515553e-05, 0.12358365952968597, -0.5722107291221619], "mean": [1.150031328201294, -0.6128895282745361, -0.22141477465629578, 1.1275612115859985, 0.09871659427881241, -0.0649220421910286, 0.3159292936325073, 1.3151713609695435, 0.2868814468383789, -0.13803744316101074, 0.23850685358047485, 0.5736316442489624, 0.49046745896339417, 0.12088479101657867, 0.04268048703670502, 0.04417974874377251, 0.40918534994125366, 0.18786999583244324, 0.062112562358379364, 0.042779456824064255, 0.045907992869615555, 0.1951916515827179, 0.00845100823789835, 0.008402317762374878, 0.09203415364027023, 0.09959866106510162, 0.2111579030752182, 0.020940715447068214, 0.019803689792752266, 1.2522659301757812, -0.6246164441108704, -0.22464659810066223, 1.3389922380447388, -1.329598069190979, -0.3304431736469269, -0.04655414819717407, 1.249351978302002, 0.08889022469520569, 0.0007459002663381398, -0.07331115007400513, 0.23149345815181732, 0.845874547958374, 0.039040129631757736, 0.21544957160949707, 0.28092652559280396, 1.140393614768982, -0.06123657524585724, 1.1758949756622314, 0.47714006900787354, 1.2956225872039795, -0.11063863337039948, 1.3046537637710571, 0.7221537232398987, 0.03357797488570213, 1.2577018737792969, -0.12856712937355042, 0.9748259782791138, 1.3319612741470337, 0.5626921057701111, -1.1068536043167114, 0.5441237688064575, -0.000620312406681478, 2.1573811181951896e-07, 0.09899493306875229, -0.7216182351112366], "std": [0.06078014150261879, 0.045979227870702744, 0.021448031067848206, 0.09893851727247238, 0.02144492231309414, 0.13108302652835846, 0.11187125742435455, 0.1576259732246399, 0.036938223987817764, 0.042613450437784195, 0.04717966914176941, 0.0763169676065445, 0.07367315143346786, 0.021333009004592896, 0.005960501730442047, 0.006037408486008644, 0.08127278834581375, 0.033346328884363174, 0.011932788416743279, 0.00808507390320301, 0.013481536880135536, 0.03547614440321922, 0.0022214886266738176, 0.0022057821042835712, 0.028317654505372047, 0.023554718121886253, 0.03304128721356392, 0.00464757950976491, 0.004367075860500336, 0.10938534885644913, 0.16569998860359192, 0.022929217666387558, 0.1720585823059082, 0.3360706567764282, 0.14787495136260986, 0.18368467688560486, 0.17426607012748718, 0.07233751565217972, 0.10220269113779068, 0.08357490599155426, 0.1973535716533661, 0.21327921748161316, 0.025196487084031105, 0.1535397469997406, 0.17134232819080353, 0.23573093116283417, 0.03099127486348152, 0.2690812051296234, 0.11906689405441284, 0.27870962023735046, 0.04462200775742531, 0.2996514141559601, 0.20773296058177948, 0.03274599462747574, 0.27263689041137695, 0.05398787185549736, 0.2531548738479614, 0.3050764501094818, 9.970231985789724e-06, 1.2028419405396562e-05, 2.2279804397840053e-05, 0.00012836640235036612, 6.328552899503848e-06, 0.02136792428791523, 0.04448123648762703], "count": [2153]}, "observation.state.tcp_pose": {"min": [0.36179181933403015, 0.18802978098392487, 0.9292520880699158, -1.3770129680633545, 1.2178682088851929, -1.6101398468017578, 0.25657710433006287, -0.2921592593193054, 0.9420993328094482, -0.7586725950241089, 1.2182749509811401, 0.4300764799118042], "max": [0.4205667972564697, 0.22558970749378204, 1.0637106895446777, -1.088505744934082, 1.9372713565826416, -1.2289557456970215, 0.4607853889465332, -0.04700398072600365, 1.1340315341949463, 1.2082231044769287, 1.9884268045425415, 1.629206657409668], "mean": [0.4106224775314331, 0.2023220956325531, 0.9856584072113037, -1.2757267951965332, 1.707737684249878, -1.4529718160629272, 0.39194056391716003, -0.1441165804862976, 1.0508031845092773, -0.20073232054710388, 1.7252001762390137, 0.6858434677124023], "std": [0.010570011101663113, 0.007909810170531273, 0.03454425558447838, 0.07297626882791519, 0.1439332515001297, 0.04730362445116043, 0.053100429475307465, 0.059305861592292786, 0.04601746052503586, 0.3373267948627472, 0.1333356499671936, 0.1944829523563385], "count": [2153]}, "action.tcp_pose": {"min": [0.3617682158946991, 0.18802089989185333, 0.9291477203369141, -1.377084732055664, 1.217882752418518, -1.6106994152069092, 0.256376713514328, -0.2945210039615631, 0.942091166973114, -0.7588260769844055, 1.2195008993148804, 0.43004244565963745], "max": [0.4205802083015442, 0.22561299800872803, 1.0636982917785645, -1.0885884761810303, 1.9373403787612915, -1.2290107011795044, 0.4607012867927551, -0.04698752611875534, 1.133845567703247, 1.2067549228668213, 1.9884674549102783, 1.6281893253326416], "mean": [0.4106443226337433, 0.20234301686286926, 0.9856959581375122, -1.2756017446517944, 1.7074342966079712, -1.4530009031295776, 0.3921152949333191, -0.14438393712043762, 1.0514066219329834, -0.19975803792476654, 1.7232614755630493, 0.6861339807510376], "std": [0.010555725544691086, 0.007930987514555454, 0.034617118537425995, 0.07317150384187698, 0.1444125473499298, 0.04718150943517685, 0.05301850289106369, 0.059626370668411255, 0.0461643747985363, 0.3400227725505829, 0.1352461278438568, 0.19613038003444672], "count": [2153]}, "subtask_index": {"min": [50], "max": [588], "mean": [525.848583372039], "std": [129.8548595584414], "count": [2153]}, "observation.tactile": {"min": [-0.02212936244904995, -3.917900176020339e-05, -8.607703784946352e-05, -0.0016363098984584212, -9.632571891415864e-05, -0.00030076317489147186, -0.008843883872032166, -4.568699296214618e-05, -0.00010026475501945242, -0.0005036030197516084, -1.645296288188547e-05, -0.00019009740208275616, -0.013233549892902374, -4.535207699518651e-05, -0.00010143611871171743, -0.0011685530189424753, -3.535335054039024e-05, -0.0002642216277308762, -0.020596986636519432, -3.663137249532156e-05, -7.975572225404903e-05, -0.0020423918031156063, -2.802008020807989e-05, -0.00043345976155251265, -0.1926867663860321, -4.212776548229158e-05, -9.391670755576342e-05, -0.003031155327335, -0.0008744230144657195, -0.004040005151182413, -0.4427178204059601, -3.993227073806338e-05, -9.28369554458186e-05, -0.21151025593280792, -0.013755982741713524, -0.0375407412648201, -5.798812389373779, -0.7540948987007141, -0.00011108342732768506, -0.24145939946174622, -0.02397337555885315, -0.10149270296096802, -0.009911973029375076, -4.8500984121346846e-05, -0.00010767110507003963, -0.0011346859391778708, -6.04018714511767e-05, -0.0002176993148168549, -0.01497779879719019, -5.5052118113962933e-05, -0.0001260148419532925, -0.0013554717879742384, -5.3202082199277356e-05, -0.0003358821268193424, -0.6724263429641724, -4.135160270379856e-05, -9.252144081983715e-05, -0.001561698503792286, -0.0004555259074550122, -0.008511635474860668], "max": [0.00030864219297654927, 0.030512021854519844, 0.08796647191047668, 1.6426181446149712e-06, 0.00016081136709544808, 6.48680133963353e-06, 0.0022433768026530743, 0.007816700264811516, 0.024266481399536133, 1.7070181002054596e-06, 6.37765260762535e-05, 2.8342190489638597e-05, 0.012986840680241585, 0.019263308495283127, 0.058886073529720306, 1.9053543383051874e-06, 0.00033929463825188577, 0.00015426678874064237, 0.0010573926847428083, 0.033886682242155075, 0.09877608716487885, 1.4566307982022408e-06, 0.0001432795252185315, 5.988933025946608e-06, 0.001224014675244689, 0.05628782883286476, 0.1323605626821518, 1.737977754601161e-06, 0.0001416170271113515, 6.940476851013955e-06, 6.444167613983154, 11.330371856689453, 11.950227737426758, 1.6980532109300839e-06, 0.03753969818353653, 0.0892530009150505, 0.6207765340805054, 9.630813598632812, 13.839052200317383, 2.1121018107805867e-06, 0.018969908356666565, 0.022613199427723885, 0.014049413613975048, 0.018277505412697792, 0.05442315712571144, 1.9637786863313522e-06, 0.0002288842952111736, 0.00018312770407646894, 0.0028879453893750906, 0.022873811423778534, 0.0673031285405159, 2.302138682352961e-06, 0.0001559167285449803, 8.922081178752705e-06, 0.0006648655980825424, 0.04552781581878662, 0.07957064360380173, 1.7117864672400174e-06, 0.0017632187809795141, 6.978453257033834e-06], "mean": [-0.00574195571243763, 0.009077695198357105, 0.027639320120215416, -0.0003657502820715308, -1.7855649275588803e-05, -6.909339572302997e-05, 0.00026287310174666345, 1.3132236745150294e-05, 6.948997179279104e-05, -1.5849802821321646e-06, -1.2013060768367723e-06, 4.93292873215978e-06, 0.00010754443792393431, 0.0009319151868112385, 0.002821458736434579, -5.234024138189852e-05, 6.875754024804337e-06, 6.731225710154831e-08, -0.002194830682128668, 0.0030648806132376194, 0.009053340181708336, -0.00016129313735291362, 1.1929045285796747e-05, -4.27855848101899e-05, -0.0027771219611167908, 0.0046880049630999565, 0.013477493077516556, -0.00021964803454466164, 1.3997244423080701e-05, -5.7184901379514486e-05, 1.7827699184417725, 2.571566343307495, 4.215771675109863, -0.07621888816356659, 0.008529429323971272, 0.02639647386968136, -1.681268572807312, 1.0781112909317017, 5.278242111206055, -0.08451679348945618, -0.002582755871117115, -0.027150167152285576, 9.138900350080803e-05, 0.0009364752913825214, 0.0028385482728481293, -5.5958407756406814e-05, 6.168129857542226e-06, -7.85562065175327e-07, -0.0002472603227943182, 0.001444406108930707, 0.0043088593520224094, -7.845643995096907e-05, 6.259030669752974e-06, -7.3788796726148576e-06, -0.0012455967953428626, 0.0019627087749540806, 0.005618215538561344, -0.00010694583033910021, -1.4343444263431593e-06, -2.0146480892435648e-05], "std": [0.0038306100759655237, 0.005190474446862936, 0.015648892149329185, 0.00020173017401248217, 2.8938104151166044e-05, 4.538414941634983e-05, 0.00024122076865751296, 0.00034856758429668844, 0.0010193553753197193, 1.9464607248664834e-05, 2.797660044961958e-06, 5.301401870383415e-06, 0.001604655641131103, 0.002549399621784687, 0.007662209682166576, 0.00014657953579444438, 3.2291824027197435e-05, 2.783702075248584e-05, 0.003386807395145297, 0.004424748010933399, 0.012994724325835705, 0.0002440692187519744, 2.184359800594393e-05, 6.861595466034487e-05, 0.011413187719881535, 0.004318219609558582, 0.011299184523522854, 0.00022990042634774, 6.393556395778432e-05, 0.00024149961245711893, 1.8235465288162231, 2.4277522563934326, 3.7606899738311768, 0.06742169708013535, 0.011464642360806465, 0.028527462854981422, 1.6613200902938843, 1.671781063079834, 4.842235088348389, 0.07705321907997131, 0.006823572795838118, 0.027858123183250427, 0.0010488994885236025, 0.0023693109396845102, 0.007053242065012455, 0.0001464809465687722, 2.1387551896623336e-05, 2.2211619580048136e-05, 0.001461683539673686, 0.0029638120904564857, 0.008711126632988453, 0.000170451748999767, 2.1662077415385284e-05, 3.293990812380798e-05, 0.016502605751156807, 0.0038119289092719555, 0.01037965714931488, 0.00020352612773422152, 4.2275729356333613e-05, 0.00022404189803637564], "count": [2153]}, "timestamp": {"min": [0.0], "max": [71.73333333333333], "mean": [35.86666666666667], "std": [20.717249924747357], "count": [2153]}, "frame_index": {"min": [0], "max": [2152], "mean": [1076.0], "std": [621.5174977424208], "count": [2153]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2153]}, "index": {"min": [24893], "max": [27045], "mean": [25969.0], "std": [621.5174977424208], "count": [2153]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2153]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5634567737579346]], [[0.564167320728302]], [[0.5647650957107544]]], "std": [[[0.29600197076797485]], [[0.29509612917900085]], [[0.2955864667892456]]], "count": [2153]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3045753836631775]], [[0.3071984350681305]], [[0.30460211634635925]]], "std": [[[0.18252667784690857]], [[0.1824745386838913]], [[0.1822463870048523]]], "count": [2153]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30949974060058594]], [[0.31233471632003784]], [[0.30894574522972107]]], "std": [[[0.1846780627965927]], [[0.1834641844034195]], [[0.18225179612636566]]], "count": [2153]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659806728363037]], [[0.5663222670555115]], [[0.566498339176178]]], "std": [[[0.30233749747276306]], [[0.3017970323562622]], [[0.3025241196155548]]], "count": [2153]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6000000238418579]], [[0.6000000238418579]], [[0.6000000238418579]]], "mean": [[[0.003791994648054242]], [[0.003791994648054242]], [[0.003791994648054242]]], "std": [[[0.03777560219168663]], [[0.03777560219168663]], [[0.03777560219168663]]], "count": [2153]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4899426996707916]], [[0.4899426996707916]], [[0.4899426996707916]]], "std": [[[0.22112175822257996]], [[0.22112175822257996]], [[0.22112175822257996]]], "count": [2153]}}}
+{"episode_index": 11, "stats": {"observation.state": {"min": [1.0503429174423218, -0.8277207016944885, -0.2243480533361435, 1.0923104286193848, -0.08723042160272598, -0.7694002985954285, 0.2147231549024582, 0.006909089162945747, -0.0010898422915488482, -0.27527937293052673, 0.004290943965315819, 0.0035087543074041605, 0.003553621470928192, -0.0108379777520895, 0.00349811720661819, 0.0008318613399751484, -0.0005674119456671178, -0.0036404626443982124, 0.0030538500286638737, 0.0008380693034268916, -0.0033107614144682884, -0.0003596306196413934, 0.0027662995271384716, 0.0008416165946982801, 0.005852665286511183, -0.0028728812467306852, 0.004372234921902418, 0.0023862081579864025, 0.0008425034466199577, 0.9250374436378479, -1.118222713470459, -0.242731973528862, 1.07269287109375, -1.7020469903945923, -0.778795599937439, -0.34037402272224426, 0.005452651530504227, -0.20010842382907867, -0.29992231726646423, -0.18549701571464539, 0.00328077026642859, 0.005352019798010588, -0.14299242198467255, 0.0035378283355385065, 0.000872656237334013, 0.0035435636527836323, -0.07515785098075867, 0.003401676192879677, 0.0008611272787675261, -0.0022220537066459656, -0.11115603148937225, 0.003858353244140744, 0.0013524397509172559, 0.00645848223939538, -0.002318220678716898, -0.1320025771856308, 0.003276160918176174, 0.000890393159352243, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.0005752427969127893, -9.58738019107841e-05, -0.011217234656214714, -0.7664151787757874], "max": [1.2756290435791016, -0.6203868389129639, -0.0007033541915006936, 1.5692557096481323, 0.07862035185098648, 0.06108934432268143, 0.6065915822982788, 1.3560901880264282, 0.29262596368789673, 0.0005833638133481145, 0.265156090259552, 0.5585687756538391, 0.48283278942108154, 0.12308959662914276, 0.03784249722957611, 0.036155372858047485, 0.35975325107574463, 0.20525167882442474, 0.04567018151283264, 0.03613453358411789, 0.054125137627124786, 0.21640096604824066, 0.00281452015042305, 0.008425921201705933, 0.24088725447654724, 0.06891831755638123, 0.24320866167545319, 0.01131800189614296, 0.013104920275509357, 1.406624674797058, -0.354866623878479, -0.0009725198615342379, 1.7625476121902466, 0.16643847525119781, -0.05472860112786293, 0.6517357230186462, 1.3569631576538086, 0.2752121388912201, 0.315833181142807, 0.2981263995170593, 0.9253467321395874, 1.018936038017273, 0.12158996611833572, 0.7561460733413696, 0.6592115163803101, 1.3220957517623901, 0.13193243741989136, 1.4318745136260986, 1.02902090549469, 1.4633281230926514, 0.1449708640575409, 1.549119234085083, 1.3081728219985962, 0.24195440113544464, 1.463303565979004, 0.1949649304151535, 1.522333025932312, 1.3081843852996826, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.10862501710653305, -0.5872270464897156], "mean": [1.1702524423599243, -0.669838011264801, -0.22100397944450378, 1.1778641939163208, -0.060280345380306244, -0.05920913815498352, 0.30164021253585815, 1.3017735481262207, 0.27996182441711426, -0.19307278096675873, 0.24385927617549896, 0.5362029671669006, 0.46140095591545105, 0.11100541800260544, 0.0364992693066597, 0.034629613161087036, 0.3198203444480896, 0.1878894716501236, 0.04349913448095322, 0.032576169818639755, 0.035626500844955444, 0.19439111649990082, 0.0027905316092073917, 0.004269324708729982, 0.14388038218021393, 0.04154146462678909, 0.2271435409784317, 0.008219793438911438, 0.008548718877136707, 1.2302974462509155, -0.6456965208053589, -0.2214021235704422, 1.3382121324539185, -1.283079981803894, -0.38272014260292053, -0.0016886104131117463, 1.2388042211532593, 0.032971881330013275, 0.03851160407066345, -0.007242929190397263, 0.2071208953857422, 0.8129224181175232, 0.054718758910894394, 0.24125297367572784, 0.28676262497901917, 1.1742043495178223, -0.04405833035707474, 1.288533091545105, 0.8434821367263794, 1.3103443384170532, -0.08123612403869629, 1.4039111137390137, 1.133254885673523, 0.02826477587223053, 1.2577404975891113, -0.09881211072206497, 1.2224390506744385, 1.2369545698165894, 0.5626852512359619, -1.106847882270813, 0.5440965294837952, -0.0002786008408293128, -3.007019699907687e-07, 0.07334551960229874, -0.7238855957984924], "std": [0.05242229625582695, 0.044901471585035324, 0.02277098223567009, 0.08745990693569183, 0.020411944016814232, 0.11934307217597961, 0.0690445601940155, 0.16148236393928528, 0.03926810622215271, 0.0331033319234848, 0.03387947753071785, 0.07886776328086853, 0.07095563411712646, 0.01928432658314705, 0.0051840608939528465, 0.004958626348525286, 0.06922237575054169, 0.03316604718565941, 0.008528058417141438, 0.006829271093010902, 0.015443037264049053, 0.03546987473964691, 7.581450063298689e-06, 0.0024504568427801132, 0.05017108470201492, 0.02357245609164238, 0.03644997254014015, 0.00410036975517869, 0.004725211765617132, 0.1058465912938118, 0.16400673985481262, 0.02503298595547676, 0.17210917174816132, 0.3512521982192993, 0.11658092588186264, 0.17462500929832458, 0.17281027138233185, 0.0891311913728714, 0.14694412052631378, 0.0864507406949997, 0.20782159268856049, 0.18056431412696838, 0.03269277885556221, 0.12666665017604828, 0.15701505541801453, 0.2498040497303009, 0.02273181639611721, 0.3066796660423279, 0.21544675529003143, 0.29600098729133606, 0.039285216480493546, 0.33231765031814575, 0.29196521639823914, 0.031316354870796204, 0.2840484380722046, 0.050111524760723114, 0.3013867735862732, 0.2852420210838318, 4.35120273323264e-05, 5.7697983720572665e-05, 4.6124412619974464e-05, 0.0002553767408244312, 1.1595063369895797e-05, 0.02459382638335228, 0.03396303951740265], "count": [1913]}, "observation.state.joint_torque": {"min": [-31.54050064086914, -4.691999912261963, -16.434999465942383, -5.75600004196167, -0.7080000042915344, -0.5935999751091003, 0.9448000192642212, -0.45592284202575684, -0.7195430397987366, -0.33179810643196106, -0.33304083347320557, -0.09961536526679993, -0.4116101562976837, -0.5075565576553345, -0.05810895934700966, -0.04138316959142685, -0.32333946228027344, -0.364596426486969, -0.11953844130039215, -0.032821137458086014, -0.22547408938407898, -0.36363694071769714, -0.0016602561809122562, -0.03496164828538895, -0.11126967519521713, -0.1890144646167755, -0.364596426486969, -0.09629485011100769, -0.02996712550520897, 10.56149959564209, -7.204500198364258, 7.243000030517578, -7.827000141143799, -2.0592000484466553, -1.1055999994277954, -3.180000066757202, -1.2416893243789673, -0.7653900384902954, -0.6114032864570618, -0.8288739323616028, -0.17432688176631927, -0.5948678255081177, -1.0381402969360352, -0.15274357795715332, -0.0642152652144432, -0.8491258025169373, -0.757017195224762, -0.12119869887828827, -0.09061487764120102, -0.2964744567871094, -0.3972181975841522, -0.10127562284469604, -0.04209667816758156, -0.14909256994724274, -0.39433979988098145, -0.4471103250980377, -0.10127562284469604, -0.10274443030357361, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.170499801635742, 11.548500061035156, -11.286999702453613, 2.921999931335449, 1.5648000240325928, 1.5312000513076782, 2.414400100708008, 0.4584698975086212, 0.1782938539981842, 0.30942970514297485, 0.4225144684314728, 0.08965382725000381, 0.3693937659263611, 0.28016355633735657, 0.10459613054990768, 0.014270060695707798, 0.38954249024391174, 0.28783926367759705, 0.1145576685667038, 0.012843053787946701, 0.3310151696205139, 0.3837856650352478, 0.0016602561809122562, 0.01212955079972744, 0.059373144060373306, 0.18133872747421265, 0.2772851884365082, 0.08965382725000381, 0.012843053787946701, 36.356998443603516, 14.96399974822998, 19.812999725341797, 4.380000114440918, 0.3440000116825104, 3.303999900817871, 0.11680000275373459, 2.441352128982544, 4.568143367767334, 2.47916579246521, 1.3781425952911377, 0.6474998593330383, 2.148240327835083, 0.2532985508441925, 1.0592433214187622, 0.21405088901519775, 0.46438068151474, 0.24466337263584137, 0.11787818372249603, 0.038529157638549805, 0.442313015460968, 0.23027141392230988, 0.12119869887828827, 0.039956167340278625, 0.10423287004232407, 0.5478541254997253, 0.39433979988098145, 0.15772433578968048, 0.027113113552331924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.340717315673828, 1.9569569826126099, -13.189519882202148, -1.7423851490020752, -0.16565196216106415, 0.04438311979174614, 1.672829031944275, -0.0028180039953440428, -0.0019498987821862102, 0.020841890946030617, 0.003294781083241105, 0.0025576481129974127, 0.007660632953047752, 0.0004463844816200435, 0.00041484663961455226, -0.00014919001841917634, 0.01920132339000702, -0.005419742316007614, 0.0006474394467659295, 5.221671744948253e-05, 0.018369264900684357, 0.018932996317744255, 1.7357617707602913e-06, -0.0011666688369587064, -0.00744555564597249, 0.008160194382071495, 0.005825982894748449, 0.00039748853305354714, -0.00020103392307646573, 26.954410552978516, 1.181278944015503, 13.039060592651367, -2.2670071125030518, -0.5996549725532532, 1.5660521984100342, -1.0882271528244019, 0.34030264616012573, 1.241935133934021, 0.3899751603603363, 0.13947156071662903, 0.13544325530529022, 0.8566789627075195, -0.1771242618560791, 0.3428610861301422, 0.10720454901456833, -0.07243276387453079, -0.09994570165872574, 0.0010527402628213167, -0.00082427664892748, -0.009502362459897995, -0.01348868291825056, 0.0004365437780506909, -0.001092072227038443, -0.0022854479029774666, -0.02583479695022106, -0.0004323390603531152, -0.01597944088280201, 0.0006191394058987498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7883301377296448, 0.9228081107139587, 0.7819247841835022, 0.6883958578109741, 0.24833354353904724, 0.34084081649780273, 0.19229136407375336, 0.03650931268930435, 0.029423920437693596, 0.04634484276175499, 0.050722673535346985, 0.011494016274809837, 0.04661437124013901, 0.04118857532739639, 0.007230225019156933, 0.00438550254330039, 0.045970384031534195, 0.04053106904029846, 0.011942150071263313, 0.003914615139365196, 0.04042692855000496, 0.06343179196119308, 0.00012002632865915075, 0.005189699120819569, 0.015656031668186188, 0.023819468915462494, 0.0548257976770401, 0.005084233358502388, 0.0037784790620207787, 4.043822765350342, 2.1019721031188965, 1.2381030321121216, 1.7014087438583374, 0.2968783974647522, 0.619867205619812, 0.45958319306373596, 0.6360254287719727, 1.4932934045791626, 0.5659790635108948, 0.3185568153858185, 0.16722768545150757, 0.9218258261680603, 0.2963707447052002, 0.37647420167922974, 0.10552223771810532, 0.18039119243621826, 0.14582884311676025, 0.026552213355898857, 0.009384452365338802, 0.07168195396661758, 0.054979950189590454, 0.020592540502548218, 0.009368701837956905, 0.01690109446644783, 0.1299666166305542, 0.09521022439002991, 0.03212922811508179, 0.013400509022176266, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1913]}, "observation.state.tcp": {"min": [0.36185580492019653, 0.19239190220832825, 0.9475409388542175, -1.212119221687317, 1.218850016593933, -1.6318681240081787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24004890024662018, -0.290036141872406, 0.9503129720687866, -0.6064587235450745, 1.219174861907959, 0.46217232942581177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41708865761756897, 0.24419818818569183, 1.0652495622634888, -0.9600527882575989, 1.9678280353546143, -1.227975606918335, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4565417766571045, -0.053256236016750336, 1.1327701807022095, 1.2556943893432617, 1.9075582027435303, 1.6600604057312012, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4069840908050537, 0.21499769389629364, 0.997439980506897, -1.0954501628875732, 1.7830959558486938, -1.4082597494125366, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38968607783317566, -0.1545206755399704, 1.0453910827636719, -0.13670942187309265, 1.6965386867523193, 0.7359365820884705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00904663186520338, 0.008133098483085632, 0.03194376826286316, 0.057254690676927567, 0.13397911190986633, 0.03716288506984711, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05519282445311546, 0.056367989629507065, 0.04368684068322182, 0.3397354483604431, 0.12492618709802628, 0.19069162011146545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1913]}, "action": {"min": [1.0512452125549316, -0.8285946249961853, -0.22434470057487488, 1.092236042022705, -0.08721563220024109, -0.7674190402030945, 0.21472491323947906, 0.0, 0.0, -0.2789750099182129, 0.0, 0.0, 0.0, -0.01605398580431938, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9250341057777405, -1.1182819604873657, -0.24273225665092468, 1.0726794004440308, -1.702064871788025, -0.779103696346283, -0.3404481112957001, 0.0, -0.21034058928489685, -0.3014291524887085, -0.18677479028701782, 0.0, 0.0, -0.185308575630188, 0.0, 0.0, 0.0, -0.08194693177938461, 0.0, 0.0, 0.0, -0.11277894675731659, 0.0, 0.0, 0.0, 0.0, -0.13278980553150177, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440320372581482, -0.0005568621563725173, -0.00013450456026475877, -0.011121533811092377, -0.7665212750434875], "max": [1.2758857011795044, -0.6203805804252625, -0.0017485233256593347, 1.5685293674468994, 0.0788118988275528, 0.06109779700636864, 0.6080823540687561, 1.3627375364303589, 0.29189255833625793, 0.0, 0.27500492334365845, 0.5648126006126404, 0.4925122559070587, 0.1189955398440361, 0.04143961891531944, 0.041114188730716705, 0.3685016930103302, 0.20460627973079681, 0.05199291184544563, 0.03946193680167198, 0.056126754730939865, 0.22183313965797424, 0.010132959112524986, 0.010041462257504463, 0.26180002093315125, 0.07373520731925964, 0.2446364015340805, 0.017395714297890663, 0.016026081517338753, 1.406632423400879, -0.3548354506492615, -9.47764638112858e-05, 1.7625792026519775, 0.17935021221637726, -0.04509646072983742, 0.6528621315956116, 1.3588430881500244, 0.29148757457733154, 0.3187647759914398, 0.3025449514389038, 0.9288909435272217, 1.0919082164764404, 0.07676982879638672, 0.7721274495124817, 0.7037562131881714, 1.3450411558151245, 0.14743444323539734, 1.436956763267517, 1.0301822423934937, 1.4729350805282593, 0.1554001122713089, 1.5561561584472656, 1.393364429473877, 0.26180002093315125, 1.471299409866333, 0.2531702518463135, 1.5271278619766235, 1.5224953889846802, 0.5626999735832214, -1.106863021850586, 0.544291079044342, 0.0004227123863529414, 0.00010291257785866037, 0.10877017676830292, -0.5874074101448059], "mean": [1.170383334159851, -0.6699311137199402, -0.22102679312229156, 1.1779171228408813, -0.060304395854473114, -0.05938208848237991, 0.3017932176589966, 1.3096723556518555, 0.2829588055610657, -0.19090549647808075, 0.2472945749759674, 0.5424907803535461, 0.46930572390556335, 0.11086365580558777, 0.03986107558012009, 0.03960563987493515, 0.32579484581947327, 0.190291166305542, 0.04716339707374573, 0.036063387989997864, 0.037909481674432755, 0.19882383942604065, 0.007307815365493298, 0.0072547937743365765, 0.1409681737422943, 0.046337708830833435, 0.23107698559761047, 0.011610469780862331, 0.01089809276163578, 1.2314517498016357, -0.6466905474662781, -0.22142721712589264, 1.3390319347381592, -1.2829781770706177, -0.38280728459358215, -0.0018145875073969364, 1.2403323650360107, 0.03632951155304909, 0.038985420018434525, -0.007011620327830315, 0.20735792815685272, 0.8352632522583008, 0.03691685572266579, 0.2421032339334488, 0.32719942927360535, 1.1736584901809692, -0.04428096115589142, 1.288866400718689, 0.8444515466690063, 1.3098660707473755, -0.08157622069120407, 1.4048300981521606, 1.1445056200027466, 0.02679412253201008, 1.256736159324646, -0.09881927073001862, 1.2231755256652832, 1.3768408298492432, 0.5626861453056335, -1.1068435907363892, 0.5441458821296692, -0.00030001060804352164, -1.4291919114839402e-06, 0.07341548800468445, -0.7239453792572021], "std": [0.052459973841905594, 0.04504232108592987, 0.022675221785902977, 0.08746863901615143, 0.02038271725177765, 0.11977187544107437, 0.06922414153814316, 0.17301221191883087, 0.038722336292266846, 0.03307076171040535, 0.03454916551709175, 0.07812958210706711, 0.06994946300983429, 0.01872503012418747, 0.0056222653947770596, 0.005593856330960989, 0.07007645070552826, 0.03337348625063896, 0.009543671272695065, 0.007225008215755224, 0.016790028661489487, 0.03510330989956856, 0.002834392013028264, 0.002812337828800082, 0.0520499087870121, 0.02562001533806324, 0.035944875329732895, 0.005709392949938774, 0.00526771042495966, 0.10577066242694855, 0.16482211649417877, 0.024938853457570076, 0.17259494960308075, 0.35296371579170227, 0.11717212945222855, 0.1747865229845047, 0.1817319542169571, 0.09291636198759079, 0.14653527736663818, 0.0864441990852356, 0.2081766426563263, 0.1966632455587387, 0.024983737617731094, 0.12818294763565063, 0.1814374327659607, 0.2507486641407013, 0.02317081205546856, 0.30457931756973267, 0.21484147012233734, 0.29589682817459106, 0.03929321467876434, 0.3302328884601593, 0.2964293360710144, 0.03467893972992897, 0.284634530544281, 0.05130184814333916, 0.297826886177063, 0.32436496019363403, 3.279615611972986e-06, 2.055767981801182e-05, 2.6651852749637328e-05, 0.000277035403996706, 1.507137858425267e-05, 0.02464410290122032, 0.03404620662331581], "count": [1913]}, "observation.state.tcp_pose": {"min": [0.36185580492019653, 0.19239190220832825, 0.9475409388542175, -1.212119221687317, 1.218850016593933, -1.6318681240081787, 0.24004890024662018, -0.290036141872406, 0.9503129720687866, -0.6064587235450745, 1.219174861907959, 0.46217232942581177], "max": [0.41708865761756897, 0.24419818818569183, 1.0652495622634888, -0.9600527882575989, 1.9678280353546143, -1.227975606918335, 0.4565417766571045, -0.053256236016750336, 1.1327701807022095, 1.2556943893432617, 1.9075582027435303, 1.6600604057312012], "mean": [0.4069840908050537, 0.21499769389629364, 0.997439980506897, -1.0954501628875732, 1.7830959558486938, -1.4082597494125366, 0.38968607783317566, -0.1545206755399704, 1.0453910827636719, -0.13670942187309265, 1.6965386867523193, 0.7359365820884705], "std": [0.00904663186520338, 0.008133098483085632, 0.03194376826286316, 0.057254690676927567, 0.13397911190986633, 0.03716288506984711, 0.05519282445311546, 0.056367989629507065, 0.04368684068322182, 0.3397354483604431, 0.12492618709802628, 0.19069162011146545], "count": [1913]}, "action.tcp_pose": {"min": [0.36206528544425964, 0.19250574707984924, 0.9475350975990295, -1.2083591222763062, 1.2194465398788452, -1.6320655345916748, 0.24027927219867706, -0.2871173024177551, 0.950560450553894, -0.6065696477890015, 1.2179239988327026, 0.46198907494544983], "max": [0.41710078716278076, 0.24487589299678802, 1.065334439277649, -0.9598920941352844, 1.9679101705551147, -1.229872226715088, 0.45651647448539734, -0.05325056239962578, 1.1325379610061646, 1.2915847301483154, 1.9078086614608765, 1.6456432342529297], "mean": [0.40701717138290405, 0.21504034101963043, 0.997475802898407, -1.095329999923706, 1.7828402519226074, -1.4081995487213135, 0.3897823393344879, -0.15479514002799988, 1.045974850654602, -0.13651010394096375, 1.6949721574783325, 0.73582524061203], "std": [0.008999285288155079, 0.008176781237125397, 0.03200225532054901, 0.05716640502214432, 0.13439089059829712, 0.036811165511608124, 0.055170632898807526, 0.05664467439055443, 0.04386229068040848, 0.34175917506217957, 0.12646687030792236, 0.19156090915203094], "count": [1913]}, "subtask_index": {"min": [50], "max": [637], "mean": [594.17354939885], "std": [105.48857376900054], "count": [1913]}, "observation.tactile": {"min": [-0.029418034479022026, -3.763584390981123e-05, -8.412831812165678e-05, -0.001917428569868207, -0.00020118018437642604, -0.00029938164516352117, -0.008918979205191135, -4.690343848778866e-05, -0.00010307160118827596, -0.00044947414426133037, -4.726735642179847e-05, -0.000172793646925129, -0.009846934117376804, -4.563820766634308e-05, -0.00010056832252303138, -0.0016075428575277328, -3.20786057272926e-05, -0.0002056178927887231, -0.01618591882288456, -3.6431945773074403e-05, -7.777611608617008e-05, -0.0016180272214114666, -3.100201865890995e-05, -0.00035090878373011947, -0.0028683380223810673, -4.879655170952901e-05, -0.00010915366874542087, -0.0007049005944281816, -2.8453005143092014e-05, -6.752767512807623e-05, -2.56866192817688, -3.825030580628663e-05, -8.814850298222154e-05, -0.19180794060230255, -0.005830399692058563, -0.06288426369428635, -8.310254096984863, -4.364594133221544e-05, -9.863571904134005e-05, -0.3281899094581604, -0.06053386628627777, -0.13618408143520355, -0.004282669629901648, -4.567637006402947e-05, -0.00010343295434722677, -0.0017263691406697035, -3.669048601295799e-05, -8.280725160147995e-05, -0.006305255927145481, -5.6049510021694005e-05, -0.0001257450203411281, -0.0031662466935813427, -3.066641875193454e-05, -0.00015710499428678304, -0.04533613100647926, -4.333298056735657e-05, -9.757585939951241e-05, -0.0006171869463287294, -4.88904224766884e-05, -0.0005983687005937099], "max": [0.034820862114429474, 0.05596362426877022, 0.16058757901191711, 1.6270101923510083e-06, 0.0005172311211936176, 0.0005407770513556898, 0.0023670790251344442, 0.009685738943517208, 0.028773818165063858, 1.7700739363135654e-06, 0.0001230933121405542, 9.07085086510051e-06, 0.00520038977265358, 0.02424590289592743, 0.07101941853761673, 1.8742973679763963e-06, 0.0002421591489110142, 3.9724152884446084e-05, 0.001888295984826982, 0.02687007747590542, 0.07729703187942505, 1.4434053809964098e-06, 0.00012551671534311026, 5.974897248961497e-06, 0.003394283354282379, 0.011417567729949951, 0.034298334270715714, 2.0328243408584967e-06, 0.0001891322754090652, 8.688008165336214e-06, 3.762990713119507, 7.601088523864746, 10.155083656311035, 1.6002053371266811e-06, 0.03129960224032402, 0.061476342380046844, 0.1828562468290329, 8.325057029724121, 16.806842803955078, 1.8641208043845836e-06, 0.009599583223462105, 0.008250730112195015, 0.07137105613946915, 0.03580978140234947, 0.10273443907499313, 1.9086612610408338e-06, 0.00048597159911878407, 0.001038593822158873, 0.10779920965433121, 0.06941388547420502, 0.21922898292541504, 2.3168390725913923e-06, 0.001081109163351357, 0.001255410141311586, 0.0008604942704550922, 0.008976692333817482, 0.025278575718402863, 1.8409322137813433e-06, 8.507255552103743e-05, 7.2705361162661575e-06], "mean": [-0.0009705189731903374, 0.004608417861163616, 0.01365329697728157, -0.00019286265887785703, 2.179170769522898e-05, -2.1878247935092077e-05, 0.00022912061831448227, 8.772014552960172e-05, 0.00029431164148263633, -5.029959993407829e-06, -1.104988655242778e-06, 4.401490969030419e-06, -0.00033432108466513455, 0.001327651902101934, 0.003892358159646392, -7.354422268690541e-05, 4.856771624872636e-07, -6.172028861328727e-06, -0.001294588204473257, 0.0024491974618285894, 0.007155523169785738, -0.0001298426213907078, 5.967370725556975e-06, -2.745604797382839e-05, -0.0001273330271942541, 0.0018405667506158352, 0.0056078676134347916, -9.313689224654809e-05, 1.5574671124340966e-05, -6.132571797934361e-06, 1.0681064128875732, 2.152357816696167, 3.771353006362915, -0.07235021144151688, 0.004826918710023165, 0.01826951466500759, -2.4378654956817627, 1.5914362668991089, 5.965318202972412, -0.10959884524345398, -0.006683830171823502, -0.042151857167482376, 0.0011925897561013699, 0.001133050536736846, 0.003416759427636862, -5.849759327247739e-05, 1.369962228636723e-05, 1.562761826789938e-05, 0.00021568595548160374, 0.0022611538879573345, 0.006948321592062712, -8.855860505718738e-05, 2.509487239876762e-05, -2.8322738216957077e-06, -0.000200301205040887, 0.0007552061579190195, 0.0021420554257929325, -4.7150151658570394e-05, -3.4377401334495516e-06, -3.742902663361747e-06], "std": [0.0029170915950089693, 0.00705035449936986, 0.02034066617488861, 0.0002769597340375185, 6.947636575205252e-05, 4.857953535974957e-05, 0.0004363720363471657, 0.0006444696919061244, 0.0019254059297963977, 3.385099262231961e-05, 5.782986590929795e-06, 8.002732101886068e-06, 0.001153653021901846, 0.002626867266371846, 0.007620380725711584, 0.00015038173296488822, 9.78889875113964e-06, 2.3179683921625838e-05, 0.0027570929378271103, 0.004002419300377369, 0.011627360247075558, 0.0002304102381458506, 1.7886839486891404e-05, 6.138223398011178e-05, 0.0004898190964013338, 0.002073301700875163, 0.006195181515067816, 0.00010409334936412051, 1.913329106173478e-05, 1.2489071195886936e-05, 1.154503345489502, 2.1616156101226807, 3.638584613800049, 0.07078404724597931, 0.00780342984944582, 0.020560767501592636, 2.592650890350342, 1.976750373840332, 5.762820720672607, 0.10566096007823944, 0.011378790251910686, 0.044296350330114365, 0.004471629858016968, 0.003249875735491514, 0.009766703471541405, 0.0001637719542486593, 4.626464578905143e-05, 6.045357440598309e-05, 0.004082844592630863, 0.003890108549967408, 0.011919449083507061, 0.00016582176613155752, 5.10761201439891e-05, 4.7781119064893574e-05, 0.0016626472352072597, 0.001387526746839285, 0.00393080385401845, 8.719884499441832e-05, 9.168014912575018e-06, 2.5209739760612138e-05], "count": [1913]}, "timestamp": {"min": [0.0], "max": [63.733333333333334], "mean": [31.866666666666667], "std": [18.407848567632474], "count": [1913]}, "frame_index": {"min": [0], "max": [1912], "mean": [956.0], "std": [552.2354570289742], "count": [1913]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1913]}, "index": {"min": [27046], "max": [28958], "mean": [28002.0], "std": [552.2354570289742], "count": [1913]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1913]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5702311396598816]], [[0.5707011222839355]], [[0.5710092782974243]]], "std": [[[0.29848799109458923]], [[0.2977887988090515]], [[0.29842203855514526]]], "count": [1913]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.306353360414505]], [[0.30912697315216064]], [[0.3066643476486206]]], "std": [[[0.18152925372123718]], [[0.18152031302452087]], [[0.18119068443775177]]], "count": [1913]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3089481294155121]], [[0.31169506907463074]], [[0.3082735240459442]]], "std": [[[0.18435993790626526]], [[0.18317811191082]], [[0.18189701437950134]]], "count": [1913]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5719774961471558]], [[0.5721306204795837]], [[0.572074294090271]]], "std": [[[0.3035121262073517]], [[0.30315276980400085]], [[0.30402839183807373]]], "count": [1913]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6823529601097107]], [[0.6823529601097107]], [[0.6823529601097107]]], "mean": [[[0.0032897242344915867]], [[0.0032897242344915867]], [[0.0032897242344915867]]], "std": [[[0.03608503192663193]], [[0.03608503192663193]], [[0.03608503192663193]]], "count": [1913]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4894759953022003]], [[0.4894759953022003]], [[0.4894759953022003]]], "std": [[[0.22086790204048157]], [[0.22086790204048157]], [[0.22086790204048157]]], "count": [1913]}}}
+{"episode_index": 12, "stats": {"observation.state": {"min": [1.0366425514221191, -0.7791496515274048, -0.22425289452075958, 0.9673980474472046, -0.07353916019201279, -0.7673295736312866, 0.14484265446662903, 0.006904030218720436, -0.0007066276739351451, -0.2556588351726532, 0.004036574624478817, 0.003528609871864319, 0.00366695667617023, -0.03776439651846886, 0.0034782616421580315, 0.000839399523101747, -0.003218031255528331, -0.009434293024241924, 0.003091433783993125, 0.0008518153917975724, -0.0017198978457599878, -0.00570968771353364, 0.002769135870039463, 0.0008447205764241517, 0.005813062656670809, -0.0028289686888456345, 0.0064551979303359985, 0.0023113954812288284, 0.000837182451505214, 0.9796443581581116, -1.0771230459213257, -0.24246746301651, 1.0461618900299072, -1.7434813976287842, -0.7685855031013489, -0.2959732115268707, 0.0056098406203091145, -0.1318598836660385, -0.2436775267124176, -0.2036447525024414, 0.0032594965305179358, 0.005326507147401571, -0.12472213804721832, 0.003574702888727188, 0.0008673351258039474, 0.004140167497098446, -0.09131624549627304, 0.0034233045298606157, 0.0010438174940645695, -0.0017228417564183474, -0.12617142498493195, 0.0035484652034938335, 0.0008544759475626051, 0.006110618822276592, -0.003507260698825121, -0.1445820927619934, 0.003237513592466712, 0.0008695522556081414, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0006711165769957006, -9.58738019107841e-05, -9.58738019107841e-05, -0.8356360197067261], "max": [1.2302545309066772, -0.5390897989273071, -0.0016756342956796288, 1.5679008960723877, 0.13419431447982788, 0.22904767096042633, 0.6912330389022827, 1.3516478538513184, 0.29589512944221497, 0.0003625190001912415, 0.24182288348674774, 0.5342596173286438, 0.49012476205825806, 0.11791444569826126, 0.03780810162425041, 0.04087959975004196, 0.3684999644756317, 0.21773916482925415, 0.0456857793033123, 0.04106849431991577, 0.15239065885543823, 0.24667569994926453, 0.022425392642617226, 0.022408820688724518, 0.24095042049884796, 0.09935250878334045, 0.2502170503139496, 0.014933478087186813, 0.0177253857254982, 1.4405068159103394, -0.3412710428237915, -0.0010323211317881942, 1.7512435913085938, 0.02965172939002514, -0.01319882646203041, 0.6120731830596924, 1.4126213788986206, 0.29483380913734436, 0.3151954710483551, 0.2845548391342163, 0.6333311796188354, 1.1781991720199585, 0.13399943709373474, 0.6644972562789917, 0.698451817035675, 1.2917977571487427, 0.19828426837921143, 1.474447250366211, 1.082814335823059, 1.4241095781326294, 0.22385311126708984, 1.5298231840133667, 1.1997191905975342, 0.14846482872962952, 1.3918101787567139, 0.22578351199626923, 1.4983943700790405, 1.308168888092041, 0.5628750920295715, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.0001917476038215682, 0.09884588420391083, -0.5999782085418701], "mean": [1.14494788646698, -0.5835262537002563, -0.2217882126569748, 1.0402451753616333, 0.07254000008106232, 0.12160895764827728, 0.3089856207370758, 1.2818363904953003, 0.28735315799713135, -0.11193650215864182, 0.16441616415977478, 0.49805647134780884, 0.40962252020835876, 0.09365933388471603, 0.03494369611144066, 0.03435259684920311, 0.3124813735485077, 0.20258980989456177, 0.04192357137799263, 0.03449156507849693, 0.11277685314416885, 0.22267186641693115, 0.01864641159772873, 0.017448266968131065, 0.10057596117258072, 0.07081338763237, 0.22911660373210907, 0.012311099097132683, 0.012738717719912529, 1.2519257068634033, -0.619783341884613, -0.22509339451789856, 1.3099238872528076, -1.3067748546600342, -0.31057101488113403, -0.015462568961083889, 1.2197597026824951, 0.06895475089550018, 0.013835089281201363, -0.029066039249300957, 0.26433488726615906, 0.9064759612083435, 0.06460805982351303, 0.1691543608903885, 0.2566817104816437, 1.1500681638717651, -0.0365811325609684, 1.2897210121154785, 0.8305705189704895, 1.296431541442871, -0.08482620865106583, 1.3897563219070435, 0.9049735069274902, 0.03812072053551674, 1.264816403388977, -0.10226091742515564, 1.1445339918136597, 1.2604488134384155, 0.5626992583274841, -1.1068649291992188, 0.5440763831138611, -0.0004151256289333105, -3.3510591634922093e-08, 0.0555977001786232, -0.7454376816749573], "std": [0.05583427846431732, 0.033347874879837036, 0.019398193806409836, 0.07673674076795578, 0.017812933772802353, 0.12820221483707428, 0.09283285588026047, 0.1348412185907364, 0.03389078751206398, 0.05408129468560219, 0.023931968957185745, 0.06468503922224045, 0.07116255909204483, 0.021639058366417885, 0.005001274403184652, 0.005335239693522453, 0.06994416564702988, 0.03391006588935852, 0.006916738115251064, 0.0065452177077531815, 0.03558802977204323, 0.03658255189657211, 0.004620147403329611, 0.004860098473727703, 0.045086659491062164, 0.03547951579093933, 0.030810128897428513, 0.004043076187372208, 0.005939209368079901, 0.11103333532810211, 0.15305759012699127, 0.021802227944135666, 0.17132757604122162, 0.320748507976532, 0.11473487317562103, 0.15128003060817719, 0.18169468641281128, 0.10281757265329361, 0.13030174374580383, 0.10199188441038132, 0.17964105308055878, 0.18650628626346588, 0.029310181736946106, 0.11807350069284439, 0.16546539962291718, 0.20217294991016388, 0.0221444983035326, 0.24571242928504944, 0.17416054010391235, 0.23447751998901367, 0.033951081335544586, 0.2613552510738373, 0.2083587348461151, 0.012275483459234238, 0.2288539558649063, 0.04213076829910278, 0.23370738327503204, 0.23679789900779724, 4.072573210578412e-05, 4.022790744784288e-05, 3.155512240482494e-05, 0.00010159321391256526, 7.812857802491635e-06, 0.021532384678721428, 0.03916135057806969], "count": [2861]}, "observation.state.joint_torque": {"min": [-32.40449905395508, -6.514500141143799, -15.54699993133545, -6.317999839782715, -0.6647999882698059, -0.8712000250816345, 1.2383999824523926, -3.840958833694458, -0.9857102632522583, -0.3566519021987915, -1.353289008140564, -0.19258970022201538, -1.9669017791748047, -0.6025435924530029, -0.07803203910589218, -0.04138316959142685, -0.6812196373939514, -0.3981776535511017, -0.12783971428871155, -0.033534638583660126, -0.3060690760612488, -0.6428410410881042, -0.06474998593330383, -0.03139413148164749, -0.11654729396104813, -0.2014874964952469, -0.5171512365341187, -0.13116022944450378, -0.02925362065434456, 8.630999565124512, -4.380000114440918, -2.50600004196167, -6.994999885559082, -2.089600086212158, -4.0879998207092285, -3.466399908065796, -1.328289270401001, -0.8405281901359558, -1.3097947835922241, -0.8363301157951355, -0.15772433578968048, -1.5044399499893188, -1.0275862216949463, -0.17432688176631927, -0.0635017603635788, -1.8805499076843262, -1.3183038234710693, -0.8649933934211731, -0.0635017603635788, -1.1475192308425903, -0.40393444895744324, -0.21417304873466492, -0.04994520545005798, -0.1693234145641327, -0.636124849319458, -0.851044774055481, -0.14610254764556885, -0.12343601882457733, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.070999145507812, 15.33899974822998, -10.378000259399414, 4.869999885559082, 1.2111999988555908, 1.3696000576019287, 2.4231998920440674, 0.39097294211387634, 0.6011049747467041, 1.2961252927780151, 0.6598682403564453, 0.12783971428871155, 0.4595833718776703, 0.27344730496406555, 0.0796922892332077, 0.019978083670139313, 0.3454071283340454, 0.2580958902835846, 0.13448072969913483, 0.013556556776165962, 0.331974595785141, 0.3809072971343994, 0.09629485011100769, 0.01855107769370079, 0.05717414245009422, 0.16406838595867157, 0.3502044379711151, 0.08301279693841934, 0.014270060695707798, 39.999000549316406, 8.929499626159668, 20.094999313354492, 2.0409998893737793, 0.23600000143051147, 3.3431999683380127, 3.2567999362945557, 2.418428659439087, 4.850866317749023, 2.404604196548462, 1.4116954803466797, 0.7487755417823792, 2.148240566253662, 1.0937892198562622, 1.0592433214187622, 0.21476440131664276, 1.0698026418685913, 0.6984899640083313, 0.2739422619342804, 0.039242662489414215, 1.2261953353881836, 0.19956855475902557, 0.2988460958003998, 0.07705831527709961, 0.12270450592041016, 1.2856820821762085, 0.3770694434642792, 0.723871648311615, 0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.88984489440918, 1.6798678636550903, -12.30180835723877, -1.3550044298171997, -0.3284207582473755, -0.3514413833618164, 1.630431056022644, -0.0004811920807696879, -0.0008221539901569486, 0.027829626575112343, 0.00832702312618494, 0.003307765582576394, 0.018404284492135048, 0.006920155603438616, 0.0008211338426917791, 0.00023342823260463774, 0.020219914615154266, -0.006754474714398384, 0.00017002956883516163, 0.00016534571477677673, 0.026675021275877953, 0.02445623278617859, 0.0016997174825519323, 0.0004129896406084299, -0.00414450466632843, 0.009602293372154236, 0.0079135000705719, -5.1647777581820264e-05, -7.681217539357021e-05, 26.932193756103516, 1.002776026725769, 12.683289527893066, -2.004143476486206, -0.558690071105957, 1.4250408411026, -0.9310218095779419, 0.5051296353340149, 1.583886981010437, 0.5204870104789734, 0.1779182106256485, 0.1642232984304428, 1.156036138534546, -0.05010474845767021, 0.4964633882045746, 0.120051309466362, -0.1607942134141922, -0.22958743572235107, -0.00304312352091074, -0.0008050291216932237, 1.9766732293646783e-05, -0.010879391804337502, 0.0021401760168373585, -0.002246496267616749, -0.0009069633670151234, -0.011605133302509785, -0.003980385605245829, -0.012234005145728588, 0.0008209922234527767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.1681357622146606, 0.9898300170898438, 0.7486518621444702, 0.6625861525535583, 0.23540693521499634, 0.3528897762298584, 0.17665527760982513, 0.07957970350980759, 0.03367573395371437, 0.062178440392017365, 0.06446240097284317, 0.011925000697374344, 0.0682593360543251, 0.046164803206920624, 0.007013840600848198, 0.003939430695027113, 0.05002940073609352, 0.0343286469578743, 0.011040319688618183, 0.0036826340947300196, 0.054613325744867325, 0.06866013258695602, 0.008540566079318523, 0.004542605951428413, 0.013510442338883877, 0.02522682026028633, 0.05217457935214043, 0.005724567919969559, 0.0037208464927971363, 4.277074813842773, 1.7650245428085327, 2.052072525024414, 1.7098174095153809, 0.29888224601745605, 0.7905950546264648, 0.6152582764625549, 0.7477247714996338, 1.598494529724121, 0.6185994744300842, 0.37974992394447327, 0.16567817330360413, 1.0178139209747314, 0.18396174907684326, 0.4559982120990753, 0.10236094146966934, 0.3134872317314148, 0.28707513213157654, 0.054410167038440704, 0.00918738916516304, 0.08536633104085922, 0.05946635827422142, 0.027405742555856705, 0.01042440440505743, 0.018973419442772865, 0.13164620101451874, 0.09838543087244034, 0.040602900087833405, 0.012456907890737057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2861]}, "observation.state.tcp": {"min": [0.3620595932006836, 0.1857241541147232, 0.9407920241355896, -1.2888542413711548, 1.2182984352111816, -1.675233006477356, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2519620954990387, -0.28299155831336975, 0.9557875990867615, -0.6905961036682129, 1.2190433740615845, 0.4576064348220825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43371522426605225, 0.24599245190620422, 1.0515106916427612, -0.9865382313728333, 2.005648136138916, -1.2303036451339722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46238332986831665, -0.051051538437604904, 1.1429221630096436, 1.2106903791427612, 1.9570776224136353, 1.5108317136764526, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4178256392478943, 0.20337927341461182, 0.9825549721717834, -1.216713786125183, 1.791529655456543, -1.5714958906173706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.397321492433548, -0.1480684131383896, 1.048944115638733, -0.19299907982349396, 1.7484328746795654, 0.7102445363998413, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01206908654421568, 0.009110594168305397, 0.030647901818156242, 0.05649540573358536, 0.13511723279953003, 0.04457058385014534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.054261501878499985, 0.05116314813494682, 0.04833022505044937, 0.3181254267692566, 0.1193331927061081, 0.17597411572933197, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2861]}, "action": {"min": [1.0364209413528442, -0.7791771292686462, -0.22424882650375366, 0.9674260020256042, -0.07385531812906265, -0.7667756080627441, 0.14482350647449493, 0.0, 0.0, -0.259369820356369, 0.0, 0.0, 0.0, -0.03703588247299194, 0.0, 0.0, 0.0, -0.01971416547894478, 0.0, 0.0, 0.0, -0.014158912934362888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9796473979949951, -1.0772801637649536, -0.2424638271331787, 1.0461372137069702, -1.7435182332992554, -0.7699999809265137, -0.29601800441741943, 0.0, -0.13410218060016632, -0.24287332594394684, -0.16997164487838745, 0.0, 0.0, -0.12349359691143036, 0.0, 0.0, 0.0, -0.09000667184591293, 0.0, 0.0, 0.0, -0.12460404634475708, 0.0, 0.0, 0.0, -0.002172983018681407, -0.14392158389091492, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440840125083923, -0.0006692916504107416, -1.792760485841427e-05, -0.0006608418771065772, -0.8354478478431702], "max": [1.2302526235580444, -0.5390862226486206, -0.0014221955789253116, 1.567639946937561, 0.13457918167114258, 0.22902792692184448, 0.691237211227417, 1.360495686531067, 0.29468294978141785, 0.0, 0.2508019208908081, 0.5395598411560059, 0.5012471675872803, 0.11807150393724442, 0.045741330832242966, 0.04323646426200867, 0.3748883605003357, 0.22186128795146942, 0.05346118286252022, 0.04197882115840912, 0.1515023410320282, 0.24895231425762177, 0.027288326993584633, 0.024204928427934647, 0.26180002093315125, 0.10242918878793716, 0.25315406918525696, 0.021520867943763733, 0.020738454535603523, 1.4405006170272827, -0.3412635922431946, 0.0, 1.7518460750579834, 0.02962932176887989, -0.013103161938488483, 0.6123048067092896, 1.414770483970642, 0.29147645831108093, 0.3199109137058258, 0.29200342297554016, 0.6375463604927063, 1.2053303718566895, 0.13407926261425018, 0.6767905354499817, 0.7068678736686707, 1.2975212335586548, 0.20135784149169922, 1.4779397249221802, 1.0847946405410767, 1.4299919605255127, 0.22746658325195312, 1.533366322517395, 1.2011314630508423, 0.1577451527118683, 1.3960833549499512, 0.22701673209667206, 1.5026779174804688, 1.4775563478469849, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.9591781867151715e-20, 1.0438239769428037e-05, 0.09921716153621674, -0.6000000238418579], "mean": [1.1449857950210571, -0.5835650563240051, -0.2218039184808731, 1.0402683019638062, 0.07249404489994049, 0.12147243320941925, 0.3092440664768219, 1.2901328802108765, 0.2879563271999359, -0.10916072875261307, 0.16616350412368774, 0.5041016936302185, 0.4164173901081085, 0.09329648315906525, 0.04038006439805031, 0.03857763111591339, 0.3164632022380829, 0.20453724265098572, 0.04664215072989464, 0.03743015229701996, 0.11641742289066315, 0.22502194344997406, 0.022816292941570282, 0.020220568403601646, 0.09631133079528809, 0.07268079370260239, 0.2336404025554657, 0.01593083143234253, 0.015473675914108753, 1.252815842628479, -0.620366096496582, -0.22512203454971313, 1.3102679252624512, -1.3069971799850464, -0.3109981119632721, -0.015246545895934105, 1.2220836877822876, 0.07473859190940857, 0.014978338964283466, -0.028010187670588493, 0.2657104730606079, 0.9464068412780762, 0.04662826284766197, 0.1732112169265747, 0.30995991826057434, 1.1479134559631348, -0.036803342401981354, 1.288479208946228, 0.8302688598632812, 1.2946711778640747, -0.0845697894692421, 1.389291524887085, 0.9046436548233032, 0.03814493119716644, 1.262718915939331, -0.1025613322854042, 1.1424057483673096, 1.3756815195083618, 0.5627053380012512, -1.1068733930587769, 0.5441600680351257, -0.00045358185889199376, -2.124962961147503e-08, 0.055646367371082306, -0.7454795837402344], "std": [0.055838070809841156, 0.033369481563568115, 0.019313395023345947, 0.07670886814594269, 0.017817076295614243, 0.12846608459949493, 0.0931745320558548, 0.1450851559638977, 0.03339574858546257, 0.05537065118551254, 0.024910084903240204, 0.0641065239906311, 0.07019498944282532, 0.021740803495049477, 0.0057720341719686985, 0.005437295418232679, 0.06940726190805435, 0.0333077609539032, 0.00875221285969019, 0.006993947550654411, 0.035697270184755325, 0.03538183867931366, 0.005417515058070421, 0.004875004291534424, 0.05116131156682968, 0.034577712416648865, 0.03103911317884922, 0.006899727042764425, 0.0066666677594184875, 0.11110725998878479, 0.15350179374217987, 0.02169611118733883, 0.17153848707675934, 0.32063382863998413, 0.11516514420509338, 0.15186448395252228, 0.18884660303592682, 0.10416312515735626, 0.13043709099292755, 0.10051853954792023, 0.1810726523399353, 0.20405329763889313, 0.024588530883193016, 0.11982745677232742, 0.1835758090019226, 0.20222651958465576, 0.02252802439033985, 0.24578091502189636, 0.17423731088638306, 0.23457254469394684, 0.03353479132056236, 0.2621132731437683, 0.20851020514965057, 0.012954400852322578, 0.2292332798242569, 0.04175974428653717, 0.23392701148986816, 0.2614167332649231, 2.189429142163135e-05, 1.0589473276922945e-05, 1.2689403774857055e-05, 8.452598558505997e-05, 4.00829458158114e-06, 0.021548978984355927, 0.03923354297876358], "count": [2861]}, "observation.state.tcp_pose": {"min": [0.3620595932006836, 0.1857241541147232, 0.9407920241355896, -1.2888542413711548, 1.2182984352111816, -1.675233006477356, 0.2519620954990387, -0.28299155831336975, 0.9557875990867615, -0.6905961036682129, 1.2190433740615845, 0.4576064348220825], "max": [0.43371522426605225, 0.24599245190620422, 1.0515106916427612, -0.9865382313728333, 2.005648136138916, -1.2303036451339722, 0.46238332986831665, -0.051051538437604904, 1.1429221630096436, 1.2106903791427612, 1.9570776224136353, 1.5108317136764526], "mean": [0.4178256392478943, 0.20337927341461182, 0.9825549721717834, -1.216713786125183, 1.791529655456543, -1.5714958906173706, 0.397321492433548, -0.1480684131383896, 1.048944115638733, -0.19299907982349396, 1.7484328746795654, 0.7102445363998413], "std": [0.01206908654421568, 0.009110594168305397, 0.030647901818156242, 0.05649540573358536, 0.13511723279953003, 0.04457058385014534, 0.054261501878499985, 0.05116314813494682, 0.04833022505044937, 0.3181254267692566, 0.1193331927061081, 0.17597411572933197], "count": [2861]}, "action.tcp_pose": {"min": [0.3621863126754761, 0.18571239709854126, 0.9407427906990051, -1.288966178894043, 1.219056248664856, -1.6793951988220215, 0.2520376741886139, -0.28393471240997314, 0.9556925296783447, -0.6924116015434265, 1.217836856842041, 0.4576009213924408], "max": [0.43372324109077454, 0.24592892825603485, 1.0515549182891846, -0.9871875643730164, 2.005674362182617, -1.2304519414901733, 0.4622800052165985, -0.05100527033209801, 1.1427489519119263, 1.2088515758514404, 1.9606379270553589, 1.5107033252716064], "mean": [0.41784799098968506, 0.20340383052825928, 0.9825467467308044, -1.216607928276062, 1.7912298440933228, -1.5715357065200806, 0.3974447250366211, -0.14826492965221405, 1.0493987798690796, -0.19332988560199738, 1.7469860315322876, 0.7101197242736816], "std": [0.012074601836502552, 0.009142442606389523, 0.030656656250357628, 0.05665058270096779, 0.13541309535503387, 0.044867534190416336, 0.054221030324697495, 0.05137163773179054, 0.04856587201356888, 0.317564994096756, 0.12094660848379135, 0.1760467290878296], "count": [2861]}, "subtask_index": {"min": [50], "max": [692], "mean": [651.3949667948269], "std": [97.06570108792427], "count": [2861]}, "observation.tactile": {"min": [-0.011042333208024502, -4.0825420001056045e-05, -8.962092397268862e-05, -0.0011943283025175333, -7.45934376027435e-05, -0.00020931466133333743, -0.0054410179145634174, -4.960380101692863e-05, -0.00011308070679660887, -0.000603861641138792, -2.3399874407914467e-05, -0.00011641764285741374, -0.008266082964837551, -4.491335857892409e-05, -9.905679326038808e-05, -0.0008598415879532695, -3.726769864442758e-05, -0.00018908202764578164, -0.02314484678208828, -3.619967901613563e-05, -7.835756696294993e-05, -0.0018001984572038054, -1.831080771808047e-05, -0.0004889398696832359, -0.008160796947777271, -4.9758455133996904e-05, -0.00011165664182044566, -0.0005673386040143669, -5.8113510021939874e-05, -0.00015497936692554504, -3.5968565940856934, -4.242619615979493e-05, -0.13224142789840698, -0.21915771067142487, -0.00603606179356575, -0.06883317977190018, -9.171637535095215, -0.5903648138046265, -9.714429324958473e-05, -0.3638368844985962, -0.03387335315346718, -0.15143190324306488, -0.34664151072502136, -4.8788504500407726e-05, -0.00010791071690618992, -0.0014877885114401579, -0.0013731959043070674, -0.006982970517128706, -0.012014120817184448, -5.887584120500833e-05, -0.00013278896221891046, -0.005589354783296585, -4.165829159319401e-05, -0.00027978068101219833, -0.28271129727363586, -4.1817005694611e-05, -9.304562991019338e-05, -0.0013374746777117252, -4.5089782361174e-05, -0.003760227933526039], "max": [0.01639949344098568, 0.01838543824851513, 0.05373309552669525, 1.719860733828682e-06, 0.00032232460216619074, 0.0002205429773312062, 0.0044250194914639, 0.011985920369625092, 0.035716619342565536, 1.9191543287888635e-06, 0.00020682283502537757, 7.030477718217298e-06, 0.005415028426796198, 0.016018493101000786, 0.046445976942777634, 1.8594805624161381e-06, 0.00014815808390267193, 6.126660446170717e-05, 0.00028212059987708926, 0.030203944072127342, 0.08740546554327011, 1.4359221722770599e-06, 0.00017010777082759887, 5.871797384315869e-06, 0.0003834833041764796, 0.009663688950240612, 0.027436822652816772, 2.103296537825372e-06, 5.852573667652905e-05, 8.086080015345942e-06, 5.381986618041992, 9.163931846618652, 11.651713371276855, 0.0004282221489120275, 0.03548751771450043, 0.0833827406167984, 7.775851726531982, 26.55984115600586, 18.643978118896484, 1.8219268440589076e-06, 0.027852188795804977, 0.18998190760612488, 0.008111446164548397, 0.05354528874158859, 0.06529992818832397, 1.9905144199583447e-06, 0.00017395909526385367, 9.106527431868017e-05, 0.19557839632034302, 0.1172758936882019, 0.35471704602241516, 2.4037601633608574e-06, 0.001879742369055748, 0.0024867402389645576, 0.005151194054633379, 0.034599419683218, 0.061202581971883774, 1.6943586160778068e-06, 0.0003362283168826252, 7.304961036425084e-05], "mean": [-0.000378187105525285, 0.002218531211838126, 0.00645530316978693, -8.694983262103051e-05, 2.2061405616113916e-05, -1.1411363630031701e-05, 0.00011733296560123563, 0.0003262344980612397, 0.0009839263511821628, -1.81979667104315e-05, 1.7627899069339037e-06, 1.1985960099991644e-06, -3.4768847399391234e-05, 0.0007838942110538483, 0.0023317651357501745, -3.9102604205254465e-05, 3.3266118748542794e-07, 3.180890075782372e-07, -0.0007808367372490466, 0.0013597977813333273, 0.003967945463955402, -7.76696833781898e-05, 5.968694949842757e-06, -1.766487184795551e-05, 0.00010834499698830768, 0.0005878088413737714, 0.0017247276846319437, -2.4173503334168345e-05, 1.6077007103376673e-06, 2.1487321646418422e-06, 1.492577314376831, 2.9167068004608154, 4.555651664733887, -0.08318296819925308, 0.009580005891621113, 0.021465284749865532, -2.9285013675689697, 1.7115856409072876, 8.083724021911621, -0.13647210597991943, -0.004911100026220083, -0.04843275249004364, -5.0080387154594064e-05, 0.00042400843813084066, 0.0012581432238221169, -2.6679219445213675e-05, 5.9538211871768e-07, -2.163347062378307e-06, -0.00034183505340479314, 0.0033009827602654696, 0.010006733238697052, -0.0001638807007111609, 2.545485767768696e-05, -1.5308387446566485e-05, -0.0007375029963441193, 0.0033336570486426353, 0.009547362104058266, -0.00021223163639660925, 1.2490379958762787e-05, -2.046254485321697e-05], "std": [0.0014307198580354452, 0.002944892505183816, 0.008431028574705124, 0.00013083410158287734, 4.0178740164265037e-05, 2.5674331482150592e-05, 0.0006468266947194934, 0.001106922747567296, 0.003238881938159466, 5.9103746025357395e-05, 1.3505700735549908e-05, 1.4258362170949113e-05, 0.0008199716685339808, 0.001835910021327436, 0.005375633481889963, 9.418626723345369e-05, 1.0764311809907667e-05, 1.4784543054702226e-05, 0.0023462148383259773, 0.0031498963944613934, 0.009146620519459248, 0.00018733188335318118, 1.6000354662537575e-05, 5.216387944528833e-05, 0.0005888498271815479, 0.0012166734086349607, 0.003499555867165327, 5.263057755655609e-05, 1.011343101708917e-05, 1.1896757314389106e-05, 1.5604040622711182, 2.5349676609039307, 3.78993821144104, 0.06923999637365341, 0.00920152012258768, 0.024794716387987137, 2.7559754848480225, 2.642688512802124, 6.871150493621826, 0.1165107786655426, 0.00918422732502222, 0.04775133728981018, 0.009386674501001835, 0.0017607888439670205, 0.004375048913061619, 9.392288484377787e-05, 4.1583254642318934e-05, 0.00018592846754472703, 0.004895361140370369, 0.004297747742384672, 0.012893120758235455, 0.0002307639952050522, 5.054273788118735e-05, 6.753108027623966e-05, 0.005598918534815311, 0.003811630653217435, 0.010816742666065693, 0.00024129061785060912, 2.4174669306376018e-05, 7.728967466391623e-05], "count": [2861]}, "timestamp": {"min": [0.0], "max": [95.33333333333333], "mean": [47.66666666666667], "std": [27.52998365419057], "count": [2861]}, "frame_index": {"min": [0], "max": [2860], "mean": [1430.0], "std": [825.8995096257171], "count": [2861]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2861]}, "index": {"min": [28959], "max": [31819], "mean": [30389.0], "std": [825.8995096257171], "count": [2861]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2861]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5671305656433105]], [[0.5675307512283325]], [[0.567754328250885]]], "std": [[[0.2982776463031769]], [[0.29763272404670715]], [[0.2983520030975342]]], "count": [2861]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3045719861984253]], [[0.3073699474334717]], [[0.30486229062080383]]], "std": [[[0.18339210748672485]], [[0.18333318829536438]], [[0.18313412368297577]]], "count": [2861]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30918410420417786]], [[0.31243470311164856]], [[0.30898112058639526]]], "std": [[[0.18474629521369934]], [[0.18351566791534424]], [[0.1823728084564209]]], "count": [2861]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5687320828437805]], [[0.5688587427139282]], [[0.5687077641487122]]], "std": [[[0.30418068170547485]], [[0.3038569986820221]], [[0.3047994077205658]]], "count": [2861]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333492279053]], [[0.7333333492279053]], [[0.7333333492279053]]], "mean": [[[0.004388307221233845]], [[0.004388307221233845]], [[0.004388307221233845]]], "std": [[[0.04191543161869049]], [[0.04191543161869049]], [[0.04191543161869049]]], "count": [2861]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4894229769706726]], [[0.4894229769706726]], [[0.4894229769706726]]], "std": [[[0.22075307369232178]], [[0.22075307369232178]], [[0.22075307369232178]]], "count": [2861]}}}
+{"episode_index": 13, "stats": {"observation.state": {"min": [1.0504356622695923, -0.7803108096122742, -0.22444535791873932, 1.0079741477966309, -0.0443030409514904, -0.769186794757843, 0.09258508682250977, 0.006906379014253616, -0.00023451889865100384, -0.24444176256656647, 0.005694994702935219, 0.003480389015749097, 0.0036522375885397196, -0.013368647545576096, 0.0034878349397331476, 0.0008544759475626051, -0.0018028141930699348, -0.002099153585731983, 0.003067323472350836, 0.0008292007842101157, -0.0033792031463235617, -0.001907563186250627, 0.006812571082264185, 0.0008518153917975724, 0.005710308905690908, -0.0025772699154913425, -0.0015216839965432882, 0.00240500015206635, 0.0008416165946982801, 0.9843595623970032, -1.130391001701355, -0.24332314729690552, 1.0697351694107056, -1.6480785608291626, -0.7687401175498962, -0.27813637256622314, 0.005567020270973444, -0.03709186986088753, -0.1886093020439148, -0.2201361358165741, 0.0032637512777000666, 0.005339018069207668, -0.11770272254943848, 0.003567611565813422, 0.0007897362229414284, -0.0015003398293629289, -0.09846515953540802, 0.0034275592770427465, 0.000857136445119977, -0.0019615322817116976, -0.13798141479492188, 0.003533218987286091, 0.000870439107529819, 0.00935591571033001, -0.0019558891654014587, -0.15922953188419342, 0.0032421229407191277, 0.0008500416879542172, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.0009587379754520953, -0.00028762139845639467, -9.58738019107841e-05, -0.8549066781997681], "max": [1.3104676008224487, -0.5737437605857849, -0.000903370906598866, 1.5690542459487915, 0.15426933765411377, 0.2650221586227417, 0.5967444181442261, 1.2846122980117798, 0.2995039224624634, 0.0019989681895822287, 0.26260560750961304, 0.5697680115699768, 0.33668074011802673, 0.103736512362957, 0.026181276887655258, 0.031655073165893555, 0.3416655361652374, 0.21221908926963806, 0.05244623124599457, 0.03616468608379364, 0.051433317363262177, 0.2397126853466034, 0.006871783174574375, 0.008448979817330837, 0.2489919364452362, 0.07753081619739532, 0.28215107321739197, 0.014923905953764915, 0.013082748278975487, 1.4343806505203247, -0.356812059879303, -0.0010686332825571299, 1.7060270309448242, 0.13062997162342072, -0.049303580075502396, 0.6159379482269287, 1.3877333402633667, 0.27956297993659973, 0.16699188947677612, 0.2288646250963211, 0.4645152986049652, 1.1079624891281128, 0.0933462381362915, 0.41644471883773804, 0.531373143196106, 1.3096426725387573, 0.15726381540298462, 1.461060643196106, 1.12697172164917, 1.4044675827026367, 0.16136792302131653, 1.5143593549728394, 1.1384532451629639, 0.24192550778388977, 1.3471554517745972, 0.18897385895252228, 1.3771966695785522, 1.3081910610198975, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 0.0001917476038215682, 0.13220997154712677, -0.5998823642730713], "mean": [1.1853851079940796, -0.6297798752784729, -0.2214849442243576, 1.119616150856018, 0.11099168658256531, 0.1219521164894104, 0.2698248028755188, 1.2228291034698486, 0.2901001274585724, -0.08766918629407883, 0.154500350356102, 0.5342941284179688, 0.2929312288761139, 0.07992947101593018, 0.024246251210570335, 0.02662317268550396, 0.2268739491701126, 0.17881256341934204, 0.038206394761800766, 0.026900917291641235, 0.018829811364412308, 0.20093901455402374, 0.0068433936685323715, 0.0027648902032524347, 0.2207617163658142, 0.036923207342624664, 0.26141950488090515, 0.008429985493421555, 0.0078883683308959, 1.2531920671463013, -0.6350868940353394, -0.2235036939382553, 1.3117374181747437, -1.3095614910125732, -0.29750511050224304, -0.002732769586145878, 1.2477186918258667, 0.09804223477840424, -0.03573845326900482, -0.07893449813127518, 0.15875519812107086, 0.8941200971603394, 0.043370090425014496, 0.13291366398334503, 0.18567252159118652, 1.1367396116256714, -0.04508676007390022, 1.2681314945220947, 0.8714878559112549, 1.2638654708862305, -0.08688393980264664, 1.3704415559768677, 0.8095811009407043, 0.03825608640909195, 1.2082269191741943, -0.10372626781463623, 0.9669944643974304, 1.2393484115600586, 0.5626887679100037, -1.1068488359451294, 0.5440791845321655, -0.0005489593022502959, -8.787697680645579e-08, 0.0967051237821579, -0.7557145357131958], "std": [0.05689335986971855, 0.04432881250977516, 0.020793117582798004, 0.10150474309921265, 0.03951039910316467, 0.16214719414710999, 0.0997181385755539, 0.13097533583641052, 0.03320344164967537, 0.052286092191934586, 0.05960934981703758, 0.0673486664891243, 0.04684225469827652, 0.015891313552856445, 0.0034745235461741686, 0.0038318540900945663, 0.0822097659111023, 0.03604981303215027, 0.012380009517073631, 0.007971062324941158, 0.017933672294020653, 0.04165022075176239, 7.786757123540156e-06, 0.0019237904343754053, 0.0388663150370121, 0.0215236134827137, 0.04350275173783302, 0.003469321643933654, 0.003955614287406206, 0.10851510614156723, 0.1722029149532318, 0.02348674274981022, 0.17576752603054047, 0.3229950964450836, 0.12827377021312714, 0.16132327914237976, 0.17839698493480682, 0.05232737213373184, 0.05377242714166641, 0.06662558764219284, 0.12274761497974396, 0.19904568791389465, 0.02874045819044113, 0.09177199751138687, 0.09571519494056702, 0.23592506349086761, 0.024035323411226273, 0.292969286441803, 0.21747750043869019, 0.2705830931663513, 0.03730946406722069, 0.31226637959480286, 0.24849309027194977, 0.026381371542811394, 0.2587823271751404, 0.04583991318941116, 0.23689594864845276, 0.28322678804397583, 3.324735735077411e-05, 3.5756231227423996e-05, 3.776063022087328e-05, 0.00019776356930378824, 1.2651546967390459e-05, 0.02261144481599331, 0.04555227607488632], "count": [2182]}, "observation.state.joint_torque": {"min": [-32.287498474121094, -9.065999984741211, -16.58099937438965, -9.28600025177002, -0.8464000225067139, -1.3167999982833862, 1.0343999862670898, -1.5537035465240479, -0.31328776478767395, -0.3330408036708832, -0.4809209108352661, -0.11953844130039215, -0.5891110301017761, -0.5862326622009277, -0.11289741843938828, -0.04138316959142685, -0.4307994544506073, -0.4307994544506073, -0.15274357795715332, -0.032821137458086014, -0.25521746277809143, -0.5862326622009277, -0.0016602561809122562, -0.03567514568567276, -0.10599205642938614, -0.2887987494468689, -0.46534016728401184, -0.09297433495521545, -0.03068062849342823, 13.069499969482422, -4.166999816894531, 3.3340001106262207, -8.0649995803833, -2.085599899291992, -1.9520000219345093, -3.24399995803833, -1.8364264965057373, -1.5320535898208618, -0.5616956949234009, -1.3371338844299316, -0.13116022944450378, -0.5277053117752075, -1.0035995244979858, -0.12949997186660767, -0.06564227491617203, -1.571602463722229, -1.0285457372665405, -0.12285894900560379, -0.04994520545005798, -0.2552174925804138, -0.2696094512939453, -0.12119869887828827, -0.04851820319890976, -0.14337515830993652, -0.3952992558479309, -0.4490292966365814, -0.28722429275512695, -0.10060391575098038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.595500946044922, 12.6225004196167, -11.368000030517578, 4.3979997634887695, 1.586400032043457, 1.1615999937057495, 2.4375998973846436, 0.5718138813972473, 0.2789025604724884, 0.4237571656703949, 0.39268991351127625, 0.09629485011100769, 0.35116392374038696, 0.2887987494468689, 0.08965382725000381, 0.015697065740823746, 0.39242085814476013, 0.37706947326660156, 0.1328205019235611, 0.019978083670139313, 0.29455551505088806, 0.42696160078048706, 0.0016602561809122562, 0.012843053787946701, 0.07696519792079926, 0.22355517745018005, 0.3175826668739319, 0.04980768263339996, 0.012843053787946701, 40.78799819946289, 15.994500160217285, 20.131999969482422, 5.598999977111816, 0.24160000681877136, 3.620800018310547, 0.8727999925613403, 2.3381965160369873, 5.010056972503662, 2.4543118476867676, 1.4054818153381348, 0.6342178583145142, 2.144402503967285, 0.3789883553981781, 1.0575830936431885, 0.21547789871692657, 0.8136256337165833, 0.2868798077106476, 0.10459613054990768, 0.04138316959142685, 0.35116392374038696, 0.20628482103347778, 0.1062563955783844, 0.02354559674859047, 0.12314429879188538, 0.4260021150112152, 0.4279210567474365, 0.14444229006767273, 0.0834798514842987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.83584976196289, 1.6775144338607788, -13.151823043823242, -1.4675410985946655, -0.33418896794319153, -0.4213442802429199, 1.6427099704742432, -0.00015233135491143912, -0.0031651414465159178, 0.04332505539059639, 0.004080604296177626, 0.004316536709666252, 0.018243031576275826, 0.004996059462428093, 0.0006406669272109866, -0.0003619833441916853, 0.03486885130405426, -0.010861900635063648, 0.003685747040435672, 0.00045321491779759526, 0.026881273835897446, 0.027484513819217682, 1.6739521015551873e-05, -0.002385755768045783, -0.0027605495415627956, 0.016302969306707382, 0.00980218593031168, 0.0014053587801754475, -1.9945644453400746e-05, 27.21627426147461, 1.0145869255065918, 12.909668922424316, -1.964535117149353, -0.4895175099372864, 1.475005030632019, -1.0000797510147095, 0.20456762611865997, 1.4386229515075684, 0.35729509592056274, 0.16513143479824066, 0.12396755069494247, 0.8836931586265564, -0.0697898417711258, 0.4201402962207794, 0.10363724082708359, -0.08907846361398697, -0.16461674869060516, 0.0016724317101761699, -8.861570677254349e-05, -0.0004753347602672875, -0.01657954975962639, 0.0020673321560025215, -0.0028912879060953856, -0.004120867699384689, -0.004100809805095196, -0.017931681126356125, -0.009915115311741829, 0.0003142442146781832, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.947900116443634, 1.0711628198623657, 0.8112937211990356, 0.7327065467834473, 0.31707653403282166, 0.3851732313632965, 0.19918711483478546, 0.05389225110411644, 0.02657652273774147, 0.07987765222787857, 0.07851693779230118, 0.013945505023002625, 0.06710480153560638, 0.05545612424612045, 0.007736726198345423, 0.004559557884931564, 0.0607786551117897, 0.052768632769584656, 0.02058160863816738, 0.004372444935142994, 0.05392304062843323, 0.09504248946905136, 0.00021846152958460152, 0.006504579912871122, 0.011771084740757942, 0.034743644297122955, 0.06823064386844635, 0.0066629801876842976, 0.004512360319495201, 3.9998488426208496, 2.0460238456726074, 1.5653222799301147, 1.6968432664871216, 0.3354196548461914, 0.6781954169273376, 0.4795115888118744, 0.7005876302719116, 1.6780471801757812, 0.5298174023628235, 0.3128957152366638, 0.160268634557724, 0.9689581990242004, 0.20611527562141418, 0.4587722420692444, 0.10512831807136536, 0.2773441672325134, 0.2307790070772171, 0.026175329461693764, 0.009657341055572033, 0.07800878584384918, 0.057160355150699615, 0.02585732378065586, 0.0094918143004179, 0.018721846863627434, 0.13303524255752563, 0.10198726505041122, 0.03964091092348099, 0.014377494342625141, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2182]}, "observation.state.tcp": {"min": [0.36185556650161743, 0.18953366577625275, 0.9607850909233093, -1.3280748128890991, 1.2191344499588013, -1.6886658668518066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2547895908355713, -0.27595987915992737, 0.9563458561897278, -0.6115657091140747, 1.2193063497543335, 0.41033366322517395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4267641305923462, 0.2379736453294754, 1.0819928646087646, -1.0056835412979126, 2.001091480255127, -1.1620442867279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45973387360572815, -0.06553524732589722, 1.1421054601669312, 1.224926233291626, 1.9637020826339722, 1.6544097661972046, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4156000018119812, 0.2039991319179535, 1.0030882358551025, -1.2429736852645874, 1.8009310960769653, -1.6054482460021973, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39703622460365295, -0.15424269437789917, 1.049349308013916, -0.20232513546943665, 1.7572083473205566, 0.7076347470283508, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00831831619143486, 0.007761967368423939, 0.03008386120200157, 0.0576915368437767, 0.13867391645908356, 0.06432283669710159, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05309455096721649, 0.054512638598680496, 0.0484168604016304, 0.31618794798851013, 0.1352188140153885, 0.19333615899085999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2182]}, "action": {"min": [1.0513575077056885, -0.7803346514701843, -0.2244405746459961, 1.0079734325408936, -0.04428612068295479, -0.769173264503479, 0.09257759898900986, 0.0, 0.0, -0.2483927458524704, 0.0, 0.0, 0.0, -0.015367144718766212, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9843593835830688, -1.130832314491272, -0.24331283569335938, 1.0696834325790405, -1.6480706930160522, -0.7678548693656921, -0.2781122922897339, 0.0, -0.03316667675971985, -0.19164419174194336, -0.19328302145004272, 0.0, 0.0, -0.1155996322631836, 0.0, 0.0, 0.0, -0.10557781159877777, 0.0, 0.0, 0.0, -0.14459984004497528, 0.0, 0.0, 0.0, 0.0, -0.161494180560112, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.544065535068512, -0.0009723797556944191, -6.618156476179138e-05, -4.382239930725268e-18, -0.8549128770828247], "max": [1.310768723487854, -0.5737153887748718, -0.0015322711551561952, 1.569117784500122, 0.15458321571350098, 0.26505571603775024, 0.5970582962036133, 1.2924158573150635, 0.29574307799339294, 0.0, 0.27596646547317505, 0.5756943225860596, 0.34294307231903076, 0.10505299270153046, 0.032555606216192245, 0.03248676657676697, 0.3472893536090851, 0.2129165679216385, 0.05990565940737724, 0.040065061300992966, 0.05172751098871231, 0.24799656867980957, 0.009735658764839172, 0.009609215892851353, 0.26180002093315125, 0.08267705887556076, 0.2847446799278259, 0.01906188763678074, 0.018397489562630653, 1.4343777894973755, -0.3567500412464142, -0.0019288272596895695, 1.7062015533447266, 0.1307392418384552, -0.04912465810775757, 0.6227737665176392, 1.3900256156921387, 0.29306674003601074, 0.17662593722343445, 0.24777308106422424, 0.4674934148788452, 1.1904809474945068, 0.09332286566495895, 0.47885003685951233, 0.6098611354827881, 1.3931572437286377, 0.18947672843933105, 1.4669182300567627, 1.1279240846633911, 1.4276245832443237, 0.19113710522651672, 1.5185902118682861, 1.1394250392913818, 0.26180002093315125, 1.3517296314239502, 0.21936842799186707, 1.3816014528274536, 1.449843406677246, 0.5626999735832214, -1.106863021850586, 0.5442442297935486, 0.0004210532642900944, 3.226688568247482e-05, 0.13406507670879364, -0.6000000238418579], "mean": [1.185529351234436, -0.6298055648803711, -0.22151239216327667, 1.1196595430374146, 0.11098948121070862, 0.1219354048371315, 0.2699795663356781, 1.2292070388793945, 0.28915122151374817, -0.08419524133205414, 0.1553412228822708, 0.5393766760826111, 0.2974882423877716, 0.07959574460983276, 0.029491102322936058, 0.029582606628537178, 0.23290468752384186, 0.17990641295909882, 0.042939405888319016, 0.030488071963191032, 0.019381891936063766, 0.20679743587970734, 0.004021850414574146, 0.003974249120801687, 0.2280224710702896, 0.04145384579896927, 0.2640734016895294, 0.011681444942951202, 0.0113973468542099, 1.2544074058532715, -0.6364410519599915, -0.2235472947359085, 1.3125149011611938, -1.3097466230392456, -0.2978444993495941, -0.0025334409438073635, 1.2493629455566406, 0.10258079320192337, -0.03590391203761101, -0.07885448634624481, 0.15860138833522797, 0.9176028966903687, 0.035211291164159775, 0.13721463084220886, 0.27173519134521484, 1.1381187438964844, -0.04551716521382332, 1.2705817222595215, 0.8733047842979431, 1.2659696340560913, -0.0878148078918457, 1.372961163520813, 0.811470091342926, 0.03696472942829132, 1.2098106145858765, -0.10492247343063354, 0.968515157699585, 1.328237771987915, 0.5626927018165588, -1.1068546772003174, 0.5441268682479858, -0.0005959233967587352, 5.857204499193358e-08, 0.09674816578626633, -0.7557597756385803], "std": [0.05694285035133362, 0.04434358701109886, 0.020668361335992813, 0.1014932170510292, 0.03952523693442345, 0.16182836890220642, 0.09982454031705856, 0.14713767170906067, 0.03708206117153168, 0.0531587116420269, 0.061891742050647736, 0.07356244325637817, 0.04861649125814438, 0.0147353271022439, 0.004314778838306665, 0.004297628533095121, 0.08412327617406845, 0.035979073494672775, 0.013773110695183277, 0.008701254613697529, 0.01847405917942524, 0.04260208457708359, 0.00354426889680326, 0.0035017712507396936, 0.04804572835564613, 0.02393082156777382, 0.04409632086753845, 0.004963778890669346, 0.004795176908373833, 0.10850521922111511, 0.17315791547298431, 0.023327989503741264, 0.1761968582868576, 0.324152410030365, 0.1289072334766388, 0.1620735079050064, 0.18614907562732697, 0.05648571625351906, 0.055205777287483215, 0.06596007198095322, 0.12364271283149719, 0.2152661830186844, 0.026260921731591225, 0.09679310768842697, 0.1612308770418167, 0.23150800168514252, 0.02614458091557026, 0.2884375751018524, 0.21477706730365753, 0.2640087306499481, 0.037459731101989746, 0.3066522181034088, 0.24654462933540344, 0.02910451777279377, 0.2522650361061096, 0.0457199402153492, 0.2336696982383728, 0.29925766587257385, 1.0704725355026312e-05, 1.1320485100441147e-05, 2.206336284871213e-05, 0.0001896849280456081, 6.51013715469162e-06, 0.02269393764436245, 0.045653123408555984], "count": [2182]}, "observation.state.tcp_pose": {"min": [0.36185556650161743, 0.18953366577625275, 0.9607850909233093, -1.3280748128890991, 1.2191344499588013, -1.6886658668518066, 0.2547895908355713, -0.27595987915992737, 0.9563458561897278, -0.6115657091140747, 1.2193063497543335, 0.41033366322517395], "max": [0.4267641305923462, 0.2379736453294754, 1.0819928646087646, -1.0056835412979126, 2.001091480255127, -1.1620442867279053, 0.45973387360572815, -0.06553524732589722, 1.1421054601669312, 1.224926233291626, 1.9637020826339722, 1.6544097661972046], "mean": [0.4156000018119812, 0.2039991319179535, 1.0030882358551025, -1.2429736852645874, 1.8009310960769653, -1.6054482460021973, 0.39703622460365295, -0.15424269437789917, 1.049349308013916, -0.20232513546943665, 1.7572083473205566, 0.7076347470283508], "std": [0.00831831619143486, 0.007761967368423939, 0.03008386120200157, 0.0576915368437767, 0.13867391645908356, 0.06432283669710159, 0.05309455096721649, 0.054512638598680496, 0.0484168604016304, 0.31618794798851013, 0.1352188140153885, 0.19333615899085999], "count": [2182]}, "action.tcp_pose": {"min": [0.36207056045532227, 0.18955667316913605, 0.9606363773345947, -1.328163504600525, 1.2187409400939941, -1.6883392333984375, 0.2549723982810974, -0.27690744400024414, 0.9563207626342773, -0.6117645502090454, 1.219505786895752, 0.4099751114845276], "max": [0.4267478585243225, 0.23810182511806488, 1.081963062286377, -1.007243275642395, 2.001110553741455, -1.1640303134918213, 0.45973581075668335, -0.06550775468349457, 1.1418951749801636, 1.2097033262252808, 1.9638491868972778, 1.654977798461914], "mean": [0.4156341254711151, 0.20400270819664001, 1.0031323432922363, -1.2428513765335083, 1.8007140159606934, -1.6056373119354248, 0.3971436023712158, -0.15470051765441895, 1.0500131845474243, -0.20231088995933533, 1.75503408908844, 0.707481324672699], "std": [0.008242838084697723, 0.007808695547282696, 0.030191931873559952, 0.05770561099052429, 0.13883733749389648, 0.06323441863059998, 0.05304407700896263, 0.05488743260502815, 0.048711664974689484, 0.3167575001716614, 0.13766179978847504, 0.19471432268619537], "count": [2182]}, "subtask_index": {"min": [50], "max": [743], "mean": [696.9670027497708], "std": [116.01004575839256], "count": [2182]}, "observation.tactile": {"min": [-0.011357991024851799, -4.1420396883040667e-05, -9.160073386738077e-05, -0.0018831166671589017, -0.00012364538270048797, -0.00023526325821876526, -0.005516108125448227, -4.76827917736955e-05, -0.0001038340778904967, -0.0005493183271028101, -7.406176155200228e-05, -8.07248434284702e-05, -0.011594145558774471, -4.7283272579079494e-05, -0.00010530549479881302, -0.001092251273803413, -6.394497904693708e-05, -0.0002520425769034773, -0.02365828864276409, -3.439226929913275e-05, -7.247441681101918e-05, -0.0017158420523628592, -5.060105468146503e-05, -0.0005407439894042909, -0.013018213212490082, -4.5903751015430316e-05, -0.00010363476758357137, -0.0013176194624975324, -3.877606650348753e-05, -0.00021525986085180193, -0.35544508695602417, -3.55037918779999e-05, -8.296302985399961e-05, -0.19752369821071625, -0.002751740626990795, -0.017862508073449135, -6.8724446296691895, -0.2481081336736679, -0.00010156643111258745, -0.2456740438938141, -0.03067290224134922, -0.10386393219232559, -0.17225831747055054, -4.901572901871987e-05, -0.00010906040552072227, -0.002941208193078637, -0.0009795069927349687, -0.003392470069229603, -0.02102363295853138, -5.6452088756486773e-05, -0.00012645189417526126, -0.0028496580198407173, -8.10999481473118e-05, -0.0004427982494235039, -0.3856023848056793, -3.911382009391673e-05, -8.767959661781788e-05, -0.0010301264701411128, -0.00011282711056992412, -0.005238249432295561], "max": [0.01238994486629963, 0.02809078060090542, 0.07966463267803192, 1.7309185977865127e-06, 0.00032656409894116223, 0.00015045110194478184, 0.008821063674986362, 0.010432646609842777, 0.03194061294198036, 1.7585398381925188e-06, 0.0001901573850773275, 9.092934487853199e-05, 0.009495542384684086, 0.01846320368349552, 0.05451912432909012, 1.971808842426981e-06, 0.00018367133452557027, 0.00011740083573386073, 0.00414724787697196, 0.029127860441803932, 0.08304891735315323, 1.3670942280441523e-06, 0.0001707678020466119, 3.243228275096044e-05, 0.0021601428743451834, 0.02480328641831875, 0.07191557437181473, 1.9517071905283956e-06, 0.0001361956528853625, 7.594797352794558e-06, 5.410993576049805, 9.46522331237793, 11.639193534851074, 1.5193425042525632e-06, 0.03519681096076965, 0.09131444245576859, 0.07323722541332245, 5.882999897003174, 15.334035873413086, 1.911578692670446e-06, 0.01353195495903492, 0.002287008101120591, 0.014660377986729145, 0.04878343269228935, 0.13481387495994568, 2.0058764675923157e-06, 0.00012091447570128366, 0.00020441973174456507, 0.153686985373497, 0.048690345138311386, 0.1606837511062622, 2.306790975126205e-06, 0.0009412082144990563, 0.0024328187573701143, 0.005490039475262165, 0.0588480643928051, 0.06527846306562424, 1.6306813677147147e-06, 0.0004880668711848557, 4.805416756425984e-05], "mean": [-0.00021164804638829082, 0.001938238856382668, 0.0056548286229372025, -0.00012474141840357333, 1.1416037523304112e-05, -8.003573384485207e-06, 0.00025458456366322935, 8.906899893190712e-05, 0.00029739519231952727, -5.260310445009964e-06, -1.1737021168300998e-06, 4.79669370179181e-06, -0.0001217222452396527, 0.0010703355073928833, 0.0031820388976484537, -5.0029055273626e-05, 1.1103014685431845e-06, -1.7342940736853052e-06, -0.001133267069235444, 0.001784837106242776, 0.0051942504942417145, -8.608339703641832e-05, 3.6191447634337237e-06, -2.0884092009509914e-05, -0.0006187562248669565, 0.0036089313216507435, 0.010622983798384666, -0.0001838567986851558, 2.9471177185769193e-05, -1.9896882804459892e-05, 1.5984597206115723, 2.1310696601867676, 4.292810916900635, -0.0701969712972641, 0.008942170068621635, 0.02259576879441738, -1.5738179683685303, 0.7028523683547974, 5.051607131958008, -0.07606472820043564, -0.004250462166965008, -0.02294037863612175, -0.0004040221101604402, 0.00027788063744083047, 0.0007993405451998115, -1.701077417237684e-05, -4.793521839019377e-06, -8.137333679769654e-06, -0.000827857933472842, 0.0028867668006569147, 0.00857992097735405, -0.00016967156261671335, 1.0237578862870578e-05, -2.214942105638329e-05, -0.0005172084784135222, 0.001234263414517045, 0.003558372613042593, -7.06382270436734e-05, 1.4438905964198057e-06, -9.237513040716294e-06], "std": [0.0012747334549203515, 0.004197725560516119, 0.011990197002887726, 0.0002798671484924853, 3.075812855968252e-05, 2.9578966859844513e-05, 0.00047186293522827327, 0.0006516629364341497, 0.0019373992690816522, 3.39418911607936e-05, 8.808903658064082e-06, 6.58040653434e-06, 0.0012449047062546015, 0.002302916254848242, 0.006748187821358442, 0.0001180088147521019, 1.2338645319687203e-05, 2.526831485738512e-05, 0.0028439436573535204, 0.0034865865018218756, 0.010174157097935677, 0.00018755033670458943, 2.1299523723428138e-05, 6.003035741741769e-05, 0.0011428426951169968, 0.0034914552234113216, 0.010142572224140167, 0.00017946414300240576, 2.8232798285898753e-05, 2.6239618819090538e-05, 1.800374150276184, 2.2531015872955322, 4.269532680511475, 0.07125633955001831, 0.01049197930842638, 0.027557440102100372, 1.790419340133667, 0.9699019193649292, 5.156694412231445, 0.07828987389802933, 0.0077250683680176735, 0.026356106624007225, 0.009437769651412964, 0.0024098134599626064, 0.006560121662914753, 0.00014309017569757998, 4.6870773076079786e-05, 0.00018904899479821324, 0.006787450518459082, 0.004922755993902683, 0.014592787250876427, 0.0003026569029316306, 3.909298902726732e-05, 0.00011383180390112102, 0.008803618140518665, 0.0025638856459409, 0.006588135380297899, 0.0001304839679505676, 1.844008693296928e-05, 0.00012140252511017025], "count": [2182]}, "timestamp": {"min": [0.0], "max": [72.7], "mean": [36.35], "std": [20.996302584555746], "count": [2182]}, "frame_index": {"min": [0], "max": [2181], "mean": [1090.5], "std": [629.8890775366723], "count": [2182]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [2182]}, "index": {"min": [31820], "max": [34001], "mean": [32910.5], "std": [629.8890775366723], "count": [2182]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2182]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5689155459403992]], [[0.5696751475334167]], [[0.5698985457420349]]], "std": [[[0.3000425100326538]], [[0.29911914467811584]], [[0.29962143301963806]]], "count": [2182]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3041946589946747]], [[0.3069747984409332]], [[0.30433574318885803]]], "std": [[[0.18399617075920105]], [[0.1840035319328308]], [[0.183862566947937]]], "count": [2182]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30969783663749695]], [[0.312488317489624]], [[0.30900838971138]]], "std": [[[0.18516692519187927]], [[0.18402399122714996]], [[0.18265566229820251]]], "count": [2182]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5717774629592896]], [[0.572214663028717]], [[0.5720865726470947]]], "std": [[[0.30513718724250793]], [[0.30453208088874817]], [[0.3052200675010681]]], "count": [2182]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.572549045085907]], [[0.572549045085907]], [[0.572549045085907]]], "mean": [[[0.003725501010194421]], [[0.003725501010194421]], [[0.003725501010194421]]], "std": [[[0.037524450570344925]], [[0.037524450570344925]], [[0.037524450570344925]]], "count": [2182]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4897066354751587]], [[0.4897066354751587]], [[0.4897066354751587]]], "std": [[[0.22082579135894775]], [[0.22082579135894775]], [[0.22082579135894775]]], "count": [2182]}}}
+{"episode_index": 14, "stats": {"observation.state": {"min": [1.0504926443099976, -0.7840743660926819, -0.22415833175182343, 1.0324513912200928, -0.08070944249629974, -0.7685398459434509, 0.12632247805595398, 0.006911437958478928, -0.0009976987494155765, -0.24584658443927765, 0.004056462086737156, 0.0035314462147653103, 0.0035901733208447695, -0.08571743965148926, 0.0035101724788546562, 0.0008407297427766025, -0.0012520825257524848, -0.08261102437973022, 0.006874619517475367, 0.0008287574164569378, -0.0032258823048323393, -0.026928383857011795, 0.006820371374487877, 0.0008296442101709545, 0.005785233341157436, -0.0026665660552680492, -0.02597264014184475, 0.002324514091014862, 0.0008314179140143096, 1.0067670345306396, -1.0590834617614746, -0.242845818400383, 1.0044406652450562, -1.6873722076416016, -0.7687870860099792, -0.26519542932510376, 0.005446869879961014, -0.09756795316934586, -0.2640573978424072, -0.16288182139396667, 0.0033382095862179995, -0.0015565184876322746, -0.20007409155368805, 0.0035527199506759644, 0.0007994914776645601, -0.0015601945342496037, -0.12527680397033691, 0.0030910789500921965, 0.0008735430892556906, -0.001101215137168765, -0.10882186889648438, 0.003504499327391386, 0.000890393159352243, 0.006447779014706612, -0.002017464255914092, -0.1250147819519043, 0.0032282948959618807, 0.000874873367138207, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.000862864195369184, -0.0001917476038215682, -0.0001917476038215682, -0.7767695188522339], "max": [1.2648589611053467, -0.6357616186141968, -0.0010239322436973453, 1.5688508749008179, 0.10472319275140762, 0.31163060665130615, 0.6392685174942017, 1.2821722030639648, 0.2983304560184479, 0.0003382753347977996, 0.2512536942958832, 0.6156182885169983, 0.29890382289886475, 0.08211499452590942, 0.02619900554418564, 0.026950355619192123, 0.24721170961856842, 0.16459551453590393, 0.03781094029545784, 0.03162891045212746, 0.045258503407239914, 0.18618954718112946, 0.0068824198096990585, 0.008407741785049438, 0.24103069305419922, 0.08262573927640915, 0.2259059101343155, 0.014945533126592636, 0.017681045457720757, 1.417515754699707, -0.262551873922348, -0.0010283662704750896, 1.7268952131271362, 0.13893131911754608, -0.05565498024225235, 0.5983289480209351, 1.3308085203170776, 0.27151980996131897, 0.09666774421930313, 0.29301512241363525, 0.7652640342712402, 0.9685637354850769, 0.11426173895597458, 0.7007286548614502, 0.8501201272010803, 1.2992275953292847, 0.13538719713687897, 1.4593244791030884, 1.077793836593628, 1.4632223844528198, 0.15950599312782288, 1.569610834121704, 1.3081573247909546, 0.24975939095020294, 1.4597582817077637, 0.2389269322156906, 1.501911997795105, 1.3081977367401123, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 9.58738019107841e-05, 0.0001917476038215682, 0.13431918621063232, -0.5999782085418701], "mean": [1.1994863748550415, -0.67673659324646, -0.22097903490066528, 1.1187468767166138, 0.09467634558677673, 0.1366538256406784, 0.26795291900634766, 1.2209415435791016, 0.2875208258628845, -0.0802440494298935, 0.18759563565254211, 0.5531185865402222, 0.26435166597366333, 0.07078269124031067, 0.022123070433735847, 0.025099901482462883, 0.17952361702919006, 0.14580516517162323, 0.02993040345609188, 0.023728135973215103, 0.032730262726545334, 0.16485172510147095, 0.006844809278845787, 0.005703970789909363, 0.12141943722963333, 0.06787939369678497, 0.20057415962219238, 0.011668962426483631, 0.012943063862621784, 1.255094289779663, -0.5991586446762085, -0.22238506376743317, 1.2948458194732666, -1.3406540155410767, -0.30781683325767517, -0.006558143068104982, 1.183651328086853, 0.09988019615411758, -0.058567870408296585, -0.06629493832588196, 0.27265873551368713, 0.7739402055740356, 0.059462692588567734, 0.24606195092201233, 0.41858604550361633, 1.178897738456726, -0.04028798267245293, 1.3132188320159912, 0.9052169322967529, 1.3011081218719482, -0.07608980685472488, 1.4072741270065308, 1.0048099756240845, 0.028035303577780724, 1.26057767868042, -0.09092846512794495, 1.1668071746826172, 1.2363120317459106, 0.5626914501190186, -1.1068499088287354, 0.5440683960914612, -0.000510710699018091, 9.192119421186362e-08, 0.09706819802522659, -0.7342406511306763], "std": [0.04562525823712349, 0.03142920881509781, 0.021731235086917877, 0.0786447674036026, 0.0271017923951149, 0.16663293540477753, 0.09631144255399704, 0.1511474847793579, 0.03883602097630501, 0.044264525175094604, 0.057479508221149445, 0.08173888921737671, 0.04453839734196663, 0.018183760344982147, 0.00337851420044899, 0.0039983284659683704, 0.05231347680091858, 0.03286087512969971, 0.006637009792029858, 0.0062643797136843204, 0.009370225481688976, 0.034967705607414246, 7.930029823910445e-06, 0.002145658480003476, 0.03804720565676689, 0.017692390829324722, 0.03834355250000954, 0.0025179299991577864, 0.0033589175436645746, 0.1004212498664856, 0.16355371475219727, 0.024347806349396706, 0.17466521263122559, 0.33499041199684143, 0.10799796879291534, 0.15576434135437012, 0.16541177034378052, 0.06870808452367783, 0.06163227930665016, 0.07668954133987427, 0.19641032814979553, 0.1757989227771759, 0.042930539697408676, 0.13576699793338776, 0.21778744459152222, 0.2636040449142456, 0.02061992883682251, 0.30971160531044006, 0.22130292654037476, 0.2943344712257385, 0.02797532267868519, 0.32631850242614746, 0.28335851430892944, 0.030247196555137634, 0.28584393858909607, 0.04197460412979126, 0.2861728370189667, 0.28996405005455017, 3.0322300517582335e-05, 4.9425540055381134e-05, 4.734400863526389e-05, 0.00017080850375350565, 7.854112482164055e-06, 0.024123389273881912, 0.033696338534355164], "count": [2086]}, "observation.state.joint_torque": {"min": [-35.188499450683594, -6.986999988555908, -17.243000030517578, -6.423999786376953, -0.6904000043869019, -1.1383999586105347, 0.9423999786376953, -0.7220901250839233, -0.27635547518730164, -0.444882869720459, -0.4237571358680725, -0.12119869887828827, -0.406812846660614, -0.5027592778205872, -0.08135254681110382, -0.04066966846585274, -0.3338935375213623, -0.39625871181488037, -0.1062563955783844, -0.03424813970923424, -0.26001477241516113, -0.46821853518486023, -0.0016602561809122562, -0.03638865053653717, -0.10071445256471634, -0.15735213458538055, -0.4758942723274231, -0.04980768263339996, -0.028540121391415596, 14.749500274658203, -5.80049991607666, 1.7200000286102295, -8.001999855041504, -2.195199966430664, -2.7263998985290527, -3.3919999599456787, -1.2098511457443237, -1.1436277627944946, -0.6399851441383362, -1.4005112648010254, -0.25235894322395325, -1.1849383115768433, -1.1830193996429443, -0.25235894322395325, -0.0635017603635788, -1.4200069904327393, -0.43175891041755676, -0.29552558064460754, -0.0706368014216423, -1.5217102766036987, -0.435596764087677, -0.10293588042259216, -0.05922074615955353, -0.15305078029632568, -1.4862101078033447, -0.46438068151474, -0.11621791869401932, -0.09703640639781952, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.100500106811523, 15.539999961853027, -7.379000186920166, 5.980999946594238, 1.6232000589370728, 1.2239999771118164, 2.647200107574463, 0.5310609936714172, 0.2572525441646576, 0.4225144386291504, 0.38150569796562195, 0.10127562284469604, 0.3693937361240387, 0.28975820541381836, 0.07637178897857666, 0.021405089646577835, 0.37515050172805786, 0.3271773159503937, 0.12949997186660767, 0.012843053787946701, 0.28496089577674866, 0.3857046365737915, 0.0016602561809122562, 0.013556556776165962, 0.07520598918199539, 0.21683892607688904, 0.39913710951805115, 0.04482691362500191, 0.013556556776165962, 36.89250183105469, 18.320999145507812, 20.42300033569336, 5.565999984741211, 0.4952000081539154, 3.1064000129699707, 1.24399995803833, 2.67950177192688, 4.4955525398254395, 2.2666656970977783, 1.209136962890625, 0.6807050108909607, 2.142483711242676, 0.27536624670028687, 1.0575830936431885, 0.21476440131664276, 0.806909441947937, 0.3358124792575836, 0.5296216607093811, 0.0827663391828537, 0.756057858467102, 0.27536624670028687, 0.5096986293792725, 0.08704736083745956, 0.12050550431013107, 0.6198139190673828, 0.39625871181488037, 0.2922050952911377, 0.07563132047653198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.000776290893555, 2.1999573707580566, -13.187082290649414, -1.2052899599075317, -0.32499176263809204, -0.3783942759037018, 1.6606719493865967, -0.0032515826169401407, -0.005311448592692614, 0.035810437053442, 0.002701024292036891, 0.004698249977082014, 0.01477883942425251, 0.006632987409830093, 0.0006685619591735303, 0.00039505932363681495, 0.02203688956797123, -0.00363685330376029, 0.0021696381736546755, 0.00010432348790345713, 0.015322915278375149, 0.01795102097094059, 1.0346752787881996e-05, 4.104231265955605e-06, -0.004735126625746489, 0.00870458409190178, -0.0002249083627248183, 0.00033268798142671585, 4.6517518057953566e-05, 27.36147689819336, 0.7407031655311584, 12.838628768920898, -1.98800790309906, -0.5297783613204956, 1.4913082122802734, -0.9407135844230652, 0.3021582067012787, 1.015333890914917, 0.30341339111328125, 0.0515025295317173, 0.09594935923814774, 0.5797114372253418, -0.32644888758659363, 0.2781018912792206, 0.09340840578079224, -0.012890663929283619, -0.04194134846329689, 0.0018011301290243864, 0.0012282786192372441, -0.0006963695050217211, -0.015697313472628593, 0.0005778284394182265, -0.0018302752869203687, 7.48478778405115e-05, 0.005969288293272257, -0.018925271928310394, -0.006375189404934645, -0.00018162357446271926, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8179432153701782, 0.9837304353713989, 0.6334221363067627, 0.7082306742668152, 0.3086923360824585, 0.3781684637069702, 0.1945149153470993, 0.04689518362283707, 0.027737094089388847, 0.08080633729696274, 0.07108935713768005, 0.013186669908463955, 0.05668115243315697, 0.0474790558218956, 0.007523873820900917, 0.0053471834398806095, 0.053460147231817245, 0.04453935846686363, 0.013594855554401875, 0.00374147342517972, 0.04485388100147247, 0.06355036050081253, 0.0001581117103341967, 0.0046095894649624825, 0.014087413437664509, 0.02369236759841442, 0.04793371632695198, 0.006191914901137352, 0.003271310357376933, 3.9121856689453125, 1.9711816310882568, 1.6912164688110352, 1.6661295890808105, 0.326691210269928, 0.7213420271873474, 0.49919143319129944, 0.7094141840934753, 1.218563199043274, 0.44004106521606445, 0.29670968651771545, 0.1367344707250595, 0.6950870156288147, 0.39175379276275635, 0.32776015996932983, 0.09858012944459915, 0.10955552011728287, 0.09114670008420944, 0.024860797449946404, 0.010066691786050797, 0.0765334963798523, 0.052928585559129715, 0.024124784395098686, 0.010066840797662735, 0.017896581441164017, 0.1258162409067154, 0.09649556130170822, 0.03527408838272095, 0.014065691269934177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2086]}, "observation.state.tcp": {"min": [0.3619079887866974, 0.19243019819259644, 0.9670400023460388, -1.284875750541687, 1.2193368673324585, -1.6822402477264404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26247841119766235, -0.2894003987312317, 0.9627857804298401, -0.6619338393211365, 1.218955397605896, 0.4768477976322174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4299869239330292, 0.2497442662715912, 1.0626325607299805, -0.9523170590400696, 1.98420250415802, -1.2284961938858032, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46308812499046326, -0.036825403571128845, 1.133616328239441, 1.23166823387146, 1.9899883270263672, 1.5824264287948608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4192492961883545, 0.23056438565254211, 1.0106101036071777, -1.2286373376846313, 1.7823011875152588, -1.5735055208206177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39949166774749756, -0.1402476578950882, 1.0513169765472412, -0.24335211515426636, 1.7259612083435059, 0.7048789262771606, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008654077537357807, 0.006409853231161833, 0.024675358086824417, 0.05037161707878113, 0.15287429094314575, 0.0639522448182106, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05230850726366043, 0.05771839991211891, 0.04533848911523819, 0.33820709586143494, 0.1297500878572464, 0.1824333369731903, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2086]}, "action": {"min": [1.050287127494812, -0.7841101288795471, -0.22415295243263245, 1.0307080745697021, -0.08071619272232056, -0.7680847644805908, 0.12629680335521698, 0.0, 0.0, -0.24967540800571442, 0.0, 0.0, 0.0, -0.08775165677070618, 0.0, 0.0, 0.0, -0.08964142948389053, 0.0, 0.0, 0.0, -0.08670730888843536, 0.0, 0.0, 0.0, 0.0, -0.049636323004961014, 0.0, 0.0, 1.0067622661590576, -1.0592962503433228, -0.24284829199314117, 1.0042861700057983, -1.6873687505722046, -0.7684873342514038, -0.26521769165992737, 0.0, -0.10095631331205368, -0.2625805735588074, -0.16614077985286713, 0.0, 0.0, -0.20313334465026855, 0.0, 0.0, 0.0, -0.15024790167808533, 0.0, 0.0, 0.0, -0.10926517844200134, 0.0, 0.0, 0.0, 0.0, -0.12559686601161957, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439882278442383, -0.0009044748730957508, -1.183477979793679e-05, -0.000139436568133533, -0.7772719860076904], "max": [1.2648509740829468, -0.6346452236175537, -0.0011574036907404661, 1.5687369108200073, 0.10477425158023834, 0.3116145133972168, 0.639402449131012, 1.2934235334396362, 0.29553624987602234, 0.0, 0.25218790769577026, 0.6205771565437317, 0.3049696981906891, 0.07808840274810791, 0.030075011774897575, 0.03005652315914631, 0.2582469582557678, 0.1657230406999588, 0.04335245490074158, 0.03416792303323746, 0.043672263622283936, 0.1918824017047882, 0.011769694276154041, 0.01076956745237112, 0.26180002093315125, 0.08556938171386719, 0.22763405740261078, 0.020113376900553703, 0.019534433260560036, 1.4175139665603638, -0.2625105082988739, -0.0011801233049482107, 1.7271870374679565, 0.14865241944789886, -0.05549372360110283, 0.6038392186164856, 1.33393394947052, 0.28531500697135925, 0.10405289381742477, 0.29910627007484436, 0.7702879905700684, 1.0233396291732788, 0.10148998349905014, 0.7123526334762573, 0.853333055973053, 1.3174306154251099, 0.14170844852924347, 1.46441650390625, 1.0786770582199097, 1.469624400138855, 0.16459544003009796, 1.5744251012802124, 1.3811613321304321, 0.26180002093315125, 1.464819073677063, 0.2479889690876007, 1.506470799446106, 1.5158007144927979, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.485687079392747e-20, 1.2150449947512243e-05, 0.1347924768924713, -0.6000000238418579], "mean": [1.199588418006897, -0.676758348941803, -0.22100508213043213, 1.118887186050415, 0.09466202557086945, 0.13637444376945496, 0.26814961433410645, 1.2305834293365479, 0.28858596086502075, -0.07724631577730179, 0.19005703926086426, 0.5595157742500305, 0.2685878872871399, 0.06898675858974457, 0.02744748257100582, 0.027512775734066963, 0.18593309819698334, 0.14590401947498322, 0.03394607454538345, 0.02745234966278076, 0.03255099803209305, 0.16910484433174133, 0.009522726759314537, 0.008658205159008503, 0.11350350081920624, 0.06881213188171387, 0.20107600092887878, 0.017062650993466377, 0.016489312052726746, 1.2562633752822876, -0.5998133420944214, -0.22241130471229553, 1.295344591140747, -1.3401721715927124, -0.307547003030777, -0.006276847794651985, 1.1837602853775024, 0.10374019294977188, -0.05935759097337723, -0.06631731241941452, 0.2720146179199219, 0.7857842445373535, 0.0470990315079689, 0.24719735980033875, 0.4472794830799103, 1.177639126777649, -0.03983696550130844, 1.3125568628311157, 0.9049866795539856, 1.2999218702316284, -0.07673066854476929, 1.4066557884216309, 1.0084624290466309, 0.03714906796813011, 1.2593730688095093, -0.09134385734796524, 1.1652253866195679, 1.3660491704940796, 0.5626909732818604, -1.1068511009216309, 0.5441251993179321, -0.0005534318624995649, -2.1013944717651611e-07, 0.09711475670337677, -0.7342804670333862], "std": [0.04557570815086365, 0.03144140914082527, 0.021626528352499008, 0.07889308780431747, 0.02715671993792057, 0.16722942888736725, 0.09654247015714645, 0.16096605360507965, 0.038359563797712326, 0.04495425522327423, 0.058124396950006485, 0.08172354102134705, 0.044127997010946274, 0.017402520403265953, 0.004125345963984728, 0.0041251289658248425, 0.05343301221728325, 0.031849946826696396, 0.008460214361548424, 0.006555014289915562, 0.009161611087620258, 0.03656882792711258, 0.002432256704196334, 0.002230139449238777, 0.04354735463857651, 0.01799621246755123, 0.03752317652106285, 0.004086898639798164, 0.003961451351642609, 0.10035648196935654, 0.1639566272497177, 0.024255050346255302, 0.17488205432891846, 0.33752331137657166, 0.10854583233594894, 0.1565169245004654, 0.1738056242465973, 0.07272268831729889, 0.06239333003759384, 0.07691705226898193, 0.19753651320934296, 0.1822948157787323, 0.04035838693380356, 0.1365354061126709, 0.2224278301000595, 0.2637227475643158, 0.022293271496891975, 0.3102291524410248, 0.2215801179409027, 0.2945616841316223, 0.02725404128432274, 0.32716983556747437, 0.28809377551078796, 0.033938534557819366, 0.2857634723186493, 0.04060176759958267, 0.2866356670856476, 0.3233298659324646, 7.629261745023541e-06, 1.2985449757252354e-05, 2.646682878548745e-05, 0.00016576734196860343, 5.254900770523818e-06, 0.024188492447137833, 0.03381679207086563], "count": [2086]}, "observation.state.tcp_pose": {"min": [0.3619079887866974, 0.19243019819259644, 0.9670400023460388, -1.284875750541687, 1.2193368673324585, -1.6822402477264404, 0.26247841119766235, -0.2894003987312317, 0.9627857804298401, -0.6619338393211365, 1.218955397605896, 0.4768477976322174], "max": [0.4299869239330292, 0.2497442662715912, 1.0626325607299805, -0.9523170590400696, 1.98420250415802, -1.2284961938858032, 0.46308812499046326, -0.036825403571128845, 1.133616328239441, 1.23166823387146, 1.9899883270263672, 1.5824264287948608], "mean": [0.4192492961883545, 0.23056438565254211, 1.0106101036071777, -1.2286373376846313, 1.7823011875152588, -1.5735055208206177, 0.39949166774749756, -0.1402476578950882, 1.0513169765472412, -0.24335211515426636, 1.7259612083435059, 0.7048789262771606], "std": [0.008654077537357807, 0.006409853231161833, 0.024675358086824417, 0.05037161707878113, 0.15287429094314575, 0.0639522448182106, 0.05230850726366043, 0.05771839991211891, 0.04533848911523819, 0.33820709586143494, 0.1297500878572464, 0.1824333369731903], "count": [2086]}, "action.tcp_pose": {"min": [0.36202389001846313, 0.19254536926746368, 0.96632319688797, -1.2849301099777222, 1.2187236547470093, -1.6822631359100342, 0.2624689042568207, -0.2901031970977783, 0.9629070162773132, -0.662080705165863, 1.2189351320266724, 0.4750705659389496], "max": [0.4300127625465393, 0.24972231686115265, 1.0627630949020386, -0.9527902603149414, 1.984204888343811, -1.229641079902649, 0.4629687964916229, -0.036786243319511414, 1.1334025859832764, 1.2331181764602661, 1.9904100894927979, 1.5827642679214478], "mean": [0.41926348209381104, 0.230549618601799, 1.0106393098831177, -1.2285289764404297, 1.7820007801055908, -1.573534369468689, 0.39964255690574646, -0.14042821526527405, 1.051908254623413, -0.24310116469860077, 1.724294662475586, 0.7054241299629211], "std": [0.008655911311507225, 0.006440700497478247, 0.024722158908843994, 0.050582364201545715, 0.15318672358989716, 0.06407103687524796, 0.05225713923573494, 0.0578797273337841, 0.04553677514195442, 0.34039756655693054, 0.13133810460567474, 0.18521104753017426], "count": [2086]}, "subtask_index": {"min": [50], "max": [786], "mean": [743.918024928092], "std": [121.12110327998835], "count": [2086]}, "observation.tactile": {"min": [-0.015878042206168175, -4.100788646610454e-05, -9.048962238011882e-05, -0.0008883289410732687, -0.00017278865561820567, -0.0002934192307293415, -0.01863543875515461, -4.6671193558722734e-05, -0.00010635334911057726, -0.0009740855894051492, -7.580401870654896e-05, -0.0003775222576223314, -0.01045857835561037, -4.681570499087684e-05, -0.00010442216444062069, -0.0013761479640379548, -8.170071669155732e-05, -0.00021967441716697067, -0.0073015023954212666, -3.552201815182343e-05, -7.69483158364892e-05, -0.0005239765741862357, -1.8958251530420966e-05, -0.00015360969700850546, -0.005578672979027033, -4.5757984480587766e-05, -0.00010089940042234957, -0.0006150536937639117, -5.9009740652982146e-05, -7.65363874961622e-05, -7.324188709259033, -3.795313386945054e-05, -0.6456867456436157, -0.21015788614749908, -0.01055159792304039, -0.12473352253437042, -7.957113265991211, -0.8639874458312988, -9.977087029255927e-05, -0.22507651150226593, -0.017589181661605835, -0.11103921383619308, -0.0027467200998216867, -4.7908484702929854e-05, -0.00010514775931369513, -0.0008275631698779762, -6.835633939772379e-06, -7.647630263818428e-05, -0.0061416043899953365, -5.3013074648333713e-05, -0.00011985928722424433, -0.0012943446636199951, -4.149467349634506e-05, -0.00015235353203024715, -0.05709129571914673, -4.441477358341217e-05, -9.972382395062596e-05, -0.0008274044957943261, -0.00015806249575689435, -0.0008906584698706865], "max": [0.0012253999011591077, 0.01461780071258545, 0.04669148474931717, 1.6920329244385357e-06, 0.000150433843373321, 6.7419823608361185e-06, 0.0003388374170754105, 0.0147096524015069, 0.04579344764351845, 1.8104868786394945e-06, 3.231230584788136e-05, 6.606108399864752e-06, 0.005248584318906069, 0.021491309627890587, 0.06433618068695068, 1.9559984139050357e-06, 0.00013728401972912252, 4.737575727631338e-05, 0.00027418232639320195, 0.013634824194014072, 0.0393739752471447, 1.4238194125937298e-06, 0.00011559000267880037, 5.7416818890487775e-06, 0.005077914800494909, 0.01283340435475111, 0.036025114357471466, 1.8814080249285325e-06, 0.00011086122685810551, 6.397765537258238e-05, 2.0002658367156982, 12.784317970275879, 11.734436988830566, 0.015080273151397705, 0.037380389869213104, 0.035968977957963943, 0.24019752442836761, 6.3045525550842285, 12.21016788482666, 1.8972664292959962e-06, 0.005285236053168774, 0.0014172944938763976, 0.012155183590948582, 0.011844293214380741, 0.03590429201722145, 1.9340316157467896e-06, 0.00016049556143116206, 0.00015764318231958896, 0.008548247627913952, 0.022930482402443886, 0.06866638362407684, 2.1895586996834027e-06, 0.0002374420000705868, 0.00010896605817833915, 0.0031477506272494793, 0.01597484201192856, 0.038987476378679276, 1.8170832163377781e-06, 0.00010864060459425673, 3.502133040456101e-05], "mean": [-0.0003255762567277998, 0.0007530858274549246, 0.0023440136574208736, -4.114305556868203e-05, -9.000985983220744e-07, -5.446300747280475e-06, -0.00027509781648404896, 0.0005761157954111695, 0.0017944974824786186, -3.838519842247479e-05, -4.376071501610568e-06, -5.529097961698426e-06, -0.00018054262909572572, 0.0010815509594976902, 0.003207382746040821, -6.421902071451768e-05, 6.953042657187325e-07, -3.8384509934985545e-06, 0.0001505648106103763, 0.00045687187230214477, 0.0013602448161691427, -1.6256193703156896e-05, 2.6531811272434425e-06, 2.583827154012397e-06, 0.00019532862643245608, 0.0003165852394886315, 0.0009497050778008997, -1.2704463188129012e-05, 4.2746071926558216e-07, 4.333153810875956e-06, 0.27132225036621094, 2.0998289585113525, 3.2637178897857666, -0.05732448771595955, 0.0027842174749821424, 0.004042190965265036, -2.0141286849975586, 1.2091596126556396, 3.4057087898254395, -0.06471629440784454, -0.003792339935898781, -0.03643713891506195, 0.00010531738371355459, 0.0008542873547412455, 0.002611539326608181, -6.0415091866161674e-05, 3.2648060823703418e-06, -2.7189406637262437e-07, 0.0002508114848751575, 0.0030355448834598064, 0.009037368930876255, -0.00012751789472531527, 2.514983862056397e-05, -5.905072157474933e-06, -0.0009003359009511769, 0.0021125914063304663, 0.006034688092768192, -0.00012803827121388167, -7.262453891598852e-06, -1.712582161417231e-05], "std": [0.0016256157541647553, 0.0019188395235687494, 0.0059242211282253265, 0.00010550161096034572, 1.7098580428864807e-05, 3.084029594901949e-05, 0.001798680517822504, 0.0018288465216755867, 0.005605727434158325, 0.00011991032079095021, 9.26570464798715e-06, 3.556689989636652e-05, 0.0012551834806799889, 0.0029195575043559074, 0.0086050508543849, 0.00018005208403337747, 1.130295277107507e-05, 2.767551995930262e-05, 0.00036505679599940777, 0.0016209266614168882, 0.004685098305344582, 5.760267231380567e-05, 1.3782376299786847e-05, 8.80811239767354e-06, 0.0003902602184098214, 0.0010007313685491681, 0.0028888171073049307, 4.171864202362485e-05, 8.275880645669531e-06, 6.665844011877198e-06, 1.016279697418213, 2.2720887660980225, 3.3676199913024902, 0.06070864945650101, 0.007663901429623365, 0.018330218270421028, 2.068588972091675, 1.5377888679504395, 3.4570863246917725, 0.06488151103258133, 0.005071062128990889, 0.03719807416200638, 0.0006390249473042786, 0.0019674981012940407, 0.005887195933610201, 0.0001364063355140388, 1.2648722076846752e-05, 1.5161967894528061e-05, 0.001048768637701869, 0.0036087576299905777, 0.010656435042619705, 0.00017065613064914942, 3.460566222202033e-05, 1.9445333236944862e-05, 0.0020846391562372446, 0.0024926080368459225, 0.007140270434319973, 0.00015258885105140507, 1.1959820767515339e-05, 3.450021176831797e-05], "count": [2086]}, "timestamp": {"min": [0.0], "max": [69.5], "mean": [34.75], "std": [20.072542052377035], "count": [2086]}, "frame_index": {"min": [0], "max": [2085], "mean": [1042.5], "std": [602.176261571311], "count": [2086]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2086]}, "index": {"min": [34002], "max": [36087], "mean": [35044.5], "std": [602.176261571311], "count": [2086]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2086]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5706945061683655]], [[0.5713702440261841]], [[0.571575939655304]]], "std": [[[0.2996394634246826]], [[0.2987937033176422]], [[0.2992994785308838]]], "count": [2086]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3050437867641449]], [[0.30778512358665466]], [[0.3050578832626343]]], "std": [[[0.1834985613822937]], [[0.18349282443523407]], [[0.18331964313983917]]], "count": [2086]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30963045358657837]], [[0.31256651878356934]], [[0.308904767036438]]], "std": [[[0.18556129932403564]], [[0.18411709368228912]], [[0.18278922140598297]]], "count": [2086]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5725210905075073]], [[0.5728616118431091]], [[0.5727196335792542]]], "std": [[[0.3037644922733307]], [[0.30325427651405334]], [[0.3039497435092926]]], "count": [2086]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6627451181411743]], [[0.6627451181411743]], [[0.6627451181411743]]], "mean": [[[0.00266738492064178]], [[0.00266738492064178]], [[0.00266738492064178]]], "std": [[[0.031480010598897934]], [[0.031480010598897934]], [[0.031480010598897934]]], "count": [2086]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4890941083431244]], [[0.4890941083431244]], [[0.4890941083431244]]], "std": [[[0.22062210738658905]], [[0.22062210738658905]], [[0.22062210738658905]]], "count": [2086]}}}
+{"episode_index": 15, "stats": {"observation.state": {"min": [1.026134729385376, -0.7796772122383118, -0.22310000658035278, 0.8994314074516296, -0.09427126497030258, -0.7683835625648499, 0.18920095264911652, 0.006896802689880133, -0.001238721888512373, -0.32053741812705994, 0.0040937745943665504, 0.003556620329618454, -0.0006684811087325215, -0.1522459089756012, 0.0035016629844903946, 0.000839399523101747, 0.0001950248406501487, -0.08818922191858292, 0.0030474679078906775, 0.0008225494530051947, -0.003545771585777402, -0.002931013936176896, 0.0027421892154961824, 0.0008438337245024741, 0.005664283875375986, -0.0019428868545219302, -0.003909572027623653, 0.002313522854819894, 0.0008331916178576648, 0.9665257334709167, -1.0650008916854858, -0.24229669570922852, 1.016818642616272, -1.6480523347854614, -0.7836156487464905, -0.31882327795028687, 0.005362493917346001, -0.14627371728420258, -0.2812861204147339, -0.17564630508422852, 0.003284670412540436, 0.005335583817213774, -0.10188904404640198, 0.0035810850095003843, 0.000881524698343128, -0.0003998612519353628, -0.0947980284690857, 0.0031329176854342222, 0.0008801944786682725, -0.0017044434789568186, -0.14859861135482788, 0.003556974697858095, 0.0008629009244032204, 0.006746406201273203, -0.002046411857008934, -0.17506043612957, 0.003222621977329254, 0.0008615707047283649, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0006711165769957006, -9.58738019107841e-05, -9.58738019107841e-05, -0.7625802159309387], "max": [1.1978473663330078, -0.5281139612197876, -0.000592020689509809, 1.5688714981079102, 0.1446511596441269, 0.20627570152282715, 0.6981143355369568, 1.3864072561264038, 0.2950930595397949, 0.0003894141991622746, 0.2418147325515747, 0.6215271353721619, 0.6688292622566223, 0.12867219746112823, 0.15559637546539307, 0.05944926291704178, 0.40430575609207153, 0.1812368929386139, 0.0522771030664444, 0.04456932097673416, 0.18275833129882812, 0.19389362633228302, 0.02609511837363243, 0.026987602934241295, 0.24883674085140228, 0.18907026946544647, 0.18897606432437897, 0.022752299904823303, 0.026977404952049255, 1.408385992050171, -0.25430819392204285, -0.002011791802942753, 1.763624906539917, 0.1482032835483551, -0.10623572021722794, 0.6041766405105591, 1.371627926826477, 0.22062954306602478, 0.34655317664146423, 0.2929680049419403, 0.6802894473075867, 1.0954639911651611, 0.09371490031480789, 0.8002108335494995, 0.34824883937835693, 1.3348668813705444, 0.14111796021461487, 1.3083053827285767, 0.535557746887207, 1.4241043329238892, 0.17419540882110596, 1.4766427278518677, 0.8586755394935608, 0.24231082201004028, 1.3899857997894287, 0.2791650891304016, 1.3824275732040405, 1.3082212209701538, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.10872089117765427, -0.5997864603996277], "mean": [1.1250922679901123, -0.591547429561615, -0.22032201290130615, 1.0259333848953247, 0.02508057840168476, 0.009808363392949104, 0.35646238923072815, 1.2804027795791626, 0.2753186523914337, -0.19761881232261658, 0.11099396646022797, 0.5960015058517456, 0.5389454364776611, 0.11198057979345322, 0.144633948802948, 0.052205778658390045, 0.2910620868206024, 0.16202719509601593, 0.04506787285208702, 0.03519139811396599, 0.10577535629272461, 0.1749395728111267, 0.018014436587691307, 0.017625998705625534, 0.010966457426548004, 0.052970610558986664, 0.16775284707546234, 0.006918435450643301, 0.00811662245541811, 1.2296266555786133, -0.6092976331710815, -0.21393036842346191, 1.3089778423309326, -1.2708102464675903, -0.3682957887649536, -0.042614422738552094, 1.232595682144165, -0.006713924929499626, 0.08329419791698456, 0.025801556184887886, 0.17215591669082642, 0.8146712779998779, 0.05972576141357422, 0.3231247067451477, 0.16231544315814972, 1.2147784233093262, -0.06347011774778366, 1.1629899740219116, 0.2430981695652008, 1.311259388923645, -0.11616754531860352, 1.2797386646270752, 0.6033951044082642, 0.03558138385415077, 1.2721381187438965, -0.13173602521419525, 0.8837749361991882, 1.2297704219818115, 0.5626898407936096, -1.1068552732467651, 0.5440804362297058, -0.00036741181975230575, 8.668517637033801e-08, 0.0678255707025528, -0.7120700478553772], "std": [0.05269606038928032, 0.03974390774965286, 0.020868053659796715, 0.10011357069015503, 0.05200881510972977, 0.1849321722984314, 0.11403417587280273, 0.1575474590063095, 0.046606145799160004, 0.04936996102333069, 0.034610070288181305, 0.08586204797029495, 0.09406781196594238, 0.03287789225578308, 0.023829413577914238, 0.00788532942533493, 0.06272947043180466, 0.0382576547563076, 0.007286102045327425, 0.005795191042125225, 0.03807739168405533, 0.03621966391801834, 0.004530831705778837, 0.005011598579585552, 0.015398192219436169, 0.05807485431432724, 0.031784508377313614, 0.007512696087360382, 0.008535411208868027, 0.11133754998445511, 0.17177100479602814, 0.0234385933727026, 0.17156517505645752, 0.33303970098495483, 0.11864160746335983, 0.19404928386211395, 0.16170383989810944, 0.07859887182712555, 0.1621069610118866, 0.0812961757183075, 0.14131173491477966, 0.2077643871307373, 0.028781184926629066, 0.15597420930862427, 0.07335242629051208, 0.2701292335987091, 0.029515782371163368, 0.28494784235954285, 0.06484947353601456, 0.30455830693244934, 0.04923999309539795, 0.315542072057724, 0.1613766998052597, 0.028812061995267868, 0.29936498403549194, 0.06800622493028641, 0.24233171343803406, 0.3019191324710846, 3.909257793566212e-05, 5.054752909927629e-05, 3.6917306715622544e-05, 0.00012790114851668477, 4.992453796148766e-06, 0.028782935813069344, 0.03850975260138512], "count": [2212]}, "observation.state.joint_torque": {"min": [-43.88850021362305, -7.4730000495910645, -22.069000244140625, -7.395999908447266, -0.47920000553131104, -0.9872000217437744, 0.6583999991416931, -3.3761212825775146, -0.28527015447616577, -0.3852337896823883, -2.014399766921997, -0.7388139367103577, -0.5766379833221436, -0.6936926245689392, -0.16436536610126495, -0.038529157638549805, -0.5123538970947266, -0.406812846660614, -0.1494230479001999, -0.03496164828538895, -0.2792041003704071, -0.47781315445899963, -0.11123716086149216, -0.03139413148164749, -0.36459511518478394, -0.2964744567871094, -1.4372775554656982, -0.11621791869401932, -0.027826614677906036, 13.182000160217285, -8.455499649047852, 5.468999862670898, -7.385000228881836, -2.1368000507354736, -1.7023999691009521, -3.439199924468994, -1.6275681257247925, -1.2149453163146973, -0.587792158126831, -0.9531429409980774, -0.1759871542453766, -0.5584082007408142, -1.0582890510559082, -0.24571789801120758, -0.05636673793196678, -1.3941015005111694, -0.9680993556976318, -0.5661473274230957, -0.0699232965707779, -1.4775749444961548, -0.29743391275405884, -0.6159550547599792, -0.07991233468055725, -0.14953236281871796, -1.441115379333496, -0.4730158746242523, -0.6325575709342957, -0.0956093966960907, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.06599998474121, 7.3470001220703125, -8.029000282287598, 3.053999900817871, 2.1440000534057617, 1.0080000162124634, 3.410399913787842, 0.5043168663978577, 0.26234668493270874, 0.41008755564689636, 0.4299705922603607, 0.09131408482789993, 0.3722721338272095, 0.8855854868888855, 0.09629485011100769, 0.016410568729043007, 0.34156927466392517, 1.0477349758148193, 0.12285894900560379, 0.012843053787946701, 0.3099069595336914, 0.3127853572368622, 0.09297433495521545, 0.016410568729043007, 0.06421096622943878, 0.21204158663749695, 0.3127853274345398, 0.04980768263339996, 0.014983562752604485, 38.59049987792969, 10.109999656677246, 20.802000045776367, 1.156000018119812, 0.23600000143051147, 2.884000062942505, 1.067199945449829, 2.198108434677124, 4.270137786865234, 2.300218343734741, 1.552119255065918, 0.7421345114707947, 2.1501595973968506, 0.720557689666748, 1.0575830936431885, 0.21333740651607513, 0.6572330594062805, 0.24658231437206268, 0.1062563955783844, 0.01855107769370079, 0.3012717664241791, 0.32813677191734314, 0.19258970022201538, 0.022832093760371208, 0.12710250914096832, 0.4643807113170624, 0.3972181975841522, 0.14278201758861542, 0.06635577231645584, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.067424774169922, 2.105698347091675, -12.062481880187988, -1.2496589422225952, -0.06099025532603264, -0.22249460220336914, 1.7000478506088257, 0.0010017697932198644, -0.0015464256284758449, 0.011245998553931713, -0.020288586616516113, 0.0013592783361673355, 0.024233965203166008, 0.017521049827337265, 0.000857148552313447, 2.902931737480685e-05, 0.007201192434877157, 0.0025331261567771435, 0.001568689476698637, 4.580301174428314e-05, 0.023231903091073036, 0.01931772194802761, 0.0016542524099349976, 0.0002857880899682641, -0.0005262899794615805, 0.006986463908106089, 0.008584359660744667, 0.0002514404186513275, 0.00011225057096453384, 27.261993408203125, 0.9871420860290527, 12.868009567260742, -2.198650598526001, -0.6145957708358765, 1.5325515270233154, -1.0919455289840698, 0.217035710811615, 1.0802687406539917, 0.38220903277397156, 0.17557215690612793, 0.12249572575092316, 0.8510462045669556, -0.13954687118530273, 0.3705695569515228, 0.10035031288862228, -0.06515456736087799, -0.09155818819999695, 0.0012864716118201613, -0.0004673893272411078, 0.01097701583057642, -0.010532856918871403, 0.000689769396558404, -0.00044868100667372346, -0.0010947301052510738, -0.001690343371592462, 0.014064467512071133, -0.0062417262233793736, -0.00035578306415118277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.5984941720962524, 0.9388678073883057, 0.8843029737472534, 0.71382737159729, 0.30583903193473816, 0.3383232057094574, 0.19000595808029175, 0.08622477948665619, 0.03214193508028984, 0.08168022334575653, 0.08125747740268707, 0.01843525655567646, 0.0631198137998581, 0.07264687120914459, 0.010500684380531311, 0.005194745492190123, 0.05256759375333786, 0.05070015415549278, 0.015553886070847511, 0.0037637045606970787, 0.05673561245203018, 0.06555712223052979, 0.010595440864562988, 0.003768078051507473, 0.010351458564400673, 0.02829882875084877, 0.05650870129466057, 0.007969526574015617, 0.004249440506100655, 4.094004154205322, 2.13771915435791, 1.3462814092636108, 1.6337069272994995, 0.25908440351486206, 0.6430162191390991, 0.47740331292152405, 0.5931071043014526, 1.3132424354553223, 0.5045410394668579, 0.36036139726638794, 0.14750342071056366, 0.9167853593826294, 0.3078038990497589, 0.39843249320983887, 0.09669698029756546, 0.17482231557369232, 0.152043879032135, 0.025421736761927605, 0.007727899122983217, 0.06273873895406723, 0.05212002247571945, 0.02829492650926113, 0.010163076221942902, 0.020925389602780342, 0.10847736895084381, 0.08977992087602615, 0.039666298776865005, 0.01432863436639309, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2212]}, "observation.state.tcp": {"min": [0.361754834651947, 0.19244785606861115, 0.9277340173721313, -1.2775212526321411, 1.2183188199996948, -1.630521297454834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24520592391490936, -0.2919807434082031, 0.9544493556022644, -0.5786789655685425, 1.2185643911361694, 0.42514657974243164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43397054076194763, 0.24264946579933167, 1.0516960620880127, -0.9278773665428162, 1.9610366821289062, -1.2073581218719482, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45642778277397156, -0.03455166891217232, 1.134375810623169, 1.2094171047210693, 2.071631669998169, 1.6001566648483276, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41767609119415283, 0.21879005432128906, 0.9742886424064636, -1.1849223375320435, 1.7219884395599365, -1.4507629871368408, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39496278762817383, -0.14547471702098846, 1.045082926750183, -0.10986458510160446, 1.7184745073318481, 0.7116619944572449, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01124979555606842, 0.008037575520575047, 0.02850298210978508, 0.06819438934326172, 0.16383826732635498, 0.0822933167219162, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05418722331523895, 0.061546362936496735, 0.04882838577032089, 0.31421011686325073, 0.14054618775844574, 0.19755437970161438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2212]}, "action": {"min": [1.0261374711990356, -0.7799999713897705, -0.22309833765029907, 0.899431586265564, -0.09426786750555038, -0.7699999809265137, 0.18920527398586273, 0.0, 0.0, -0.33293765783309937, 0.0, 0.0, 0.0, -0.16089512407779694, 0.0, 0.0, 0.0, -0.10086634010076523, 0.0, 0.0, 0.0, -0.0009399211267009377, 0.0, 0.0, -9.90738513451106e-09, 0.0, 0.0, 0.0, 0.0, 0.9665353298187256, -1.0650320053100586, -0.24227213859558105, 1.016808271408081, -1.6480486392974854, -0.788590669631958, -0.3188384473323822, 0.0, -0.15363629162311554, -0.28084033727645874, -0.16384585201740265, 0.0, 0.0, -0.13689972460269928, 0.0, 0.0, 0.0, -0.10150676965713501, 0.0, 0.0, 0.0, -0.1556520015001297, 0.0, 0.0, 0.0, 0.0, -0.17770490050315857, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440842509269714, -0.0006733848713338375, -1.9367646018508822e-05, -5.65834242185394e-19, -0.7625248432159424], "max": [1.1978493928909302, -0.5281155109405518, 0.0, 1.5700000524520874, 0.14464673399925232, 0.20626135170459747, 0.7004953026771545, 1.3960527181625366, 0.2921749949455261, 0.0, 0.24650636315345764, 0.6256157159805298, 0.6780259609222412, 0.12826859951019287, 0.15931124985218048, 0.06093663349747658, 0.41351261734962463, 0.18222759664058685, 0.059495069086551666, 0.04650400951504707, 0.1941007375717163, 0.20147155225276947, 0.032529182732105255, 0.028972292318940163, 0.26179999113082886, 0.19607943296432495, 0.19463400542736053, 0.03285771608352661, 0.03181159123778343, 1.4083759784698486, -0.25430038571357727, -0.0023805866949260235, 1.7640528678894043, 0.15196137130260468, -0.1055297777056694, 0.6041666269302368, 1.3731673955917358, 0.2387092113494873, 0.3457999527454376, 0.29577478766441345, 0.6829639077186584, 1.1315481662750244, 0.1105252280831337, 0.807992160320282, 0.3448902368545532, 1.4370356798171997, 0.15729686617851257, 1.311907410621643, 0.5437662601470947, 1.426208257675171, 0.17699165642261505, 1.4815593957901, 0.8611944317817688, 0.26180002093315125, 1.3983573913574219, 0.2870710790157318, 1.385425329208374, 1.4451593160629272, 0.5626999735832214, -1.106863021850586, 0.5442028045654297, 0.0004227435274515301, 1.8060891306959093e-05, 0.10898992419242859, -0.6000000238418579], "mean": [1.1251558065414429, -0.5915840864181519, -0.22033056616783142, 1.0260746479034424, 0.024989482015371323, 0.009703940711915493, 0.3565402925014496, 1.2900149822235107, 0.27685683965682983, -0.19811393320560455, 0.10916353017091751, 0.6022663712501526, 0.5434688925743103, 0.11400660872459412, 0.14345894753932953, 0.05500737577676773, 0.29313334822654724, 0.16567762196063995, 0.048648569732904434, 0.03893337398767471, 0.10639407485723495, 0.1796921342611313, 0.02303384803235531, 0.020465267822146416, 0.008359214290976524, 0.05372098833322525, 0.17447112500667572, 0.01105333399027586, 0.010884664952754974, 1.230474591255188, -0.6097352504730225, -0.21394535899162292, 1.3094007968902588, -1.2705432176589966, -0.3678520917892456, -0.04251936450600624, 1.2330970764160156, -0.00333034573122859, 0.08319506049156189, 0.025771114975214005, 0.17253683507442474, 0.8373383283615112, 0.05000504106283188, 0.3272896409034729, 0.17302750051021576, 1.2167112827301025, -0.06303694099187851, 1.1628303527832031, 0.24313512444496155, 1.3136818408966064, -0.11592372506856918, 1.28010892868042, 0.603657603263855, 0.03874215483665466, 1.2739568948745728, -0.1317991316318512, 0.883707582950592, 1.3084661960601807, 0.5626939535140991, -1.1068557500839233, 0.5441493391990662, -0.00040351873030886054, -3.895679299148469e-07, 0.06788262724876404, -0.7121015787124634], "std": [0.05268453434109688, 0.03979671746492386, 0.020886952057480812, 0.10038121044635773, 0.051903218030929565, 0.1850404590368271, 0.11408933252096176, 0.1686304658651352, 0.045779090374708176, 0.05033167824149132, 0.034852687269449234, 0.08611331880092621, 0.09330393373966217, 0.03318539634346962, 0.02397189848124981, 0.008255246095359325, 0.062487296760082245, 0.038937758654356, 0.007762989494949579, 0.006321374326944351, 0.04061290994286537, 0.03643376752734184, 0.0060198321007192135, 0.005362559109926224, 0.01972995698451996, 0.06066959723830223, 0.03216259926557541, 0.009688113816082478, 0.009363088756799698, 0.11152966320514679, 0.17204780876636505, 0.02343587949872017, 0.17169331014156342, 0.3348842263221741, 0.11879707872867584, 0.19452376663684845, 0.17097671329975128, 0.08184828609228134, 0.16181695461273193, 0.08036541193723679, 0.14208422601222992, 0.22204798460006714, 0.026910031214356422, 0.1562342643737793, 0.07307200133800507, 0.2652522027492523, 0.03114532306790352, 0.28278782963752747, 0.06452863663434982, 0.2984614372253418, 0.049102459102869034, 0.312308669090271, 0.16043981909751892, 0.031448837369680405, 0.29381248354911804, 0.06692317873239517, 0.23959365487098694, 0.32149404287338257, 1.055748089129338e-05, 8.693036761542317e-06, 1.4833519344392698e-05, 0.0001345995842712, 3.991912763012806e-06, 0.02879362739622593, 0.0385410338640213], "count": [2212]}, "observation.state.tcp_pose": {"min": [0.361754834651947, 0.19244785606861115, 0.9277340173721313, -1.2775212526321411, 1.2183188199996948, -1.630521297454834, 0.24520592391490936, -0.2919807434082031, 0.9544493556022644, -0.5786789655685425, 1.2185643911361694, 0.42514657974243164], "max": [0.43397054076194763, 0.24264946579933167, 1.0516960620880127, -0.9278773665428162, 1.9610366821289062, -1.2073581218719482, 0.45642778277397156, -0.03455166891217232, 1.134375810623169, 1.2094171047210693, 2.071631669998169, 1.6001566648483276], "mean": [0.41767609119415283, 0.21879005432128906, 0.9742886424064636, -1.1849223375320435, 1.7219884395599365, -1.4507629871368408, 0.39496278762817383, -0.14547471702098846, 1.045082926750183, -0.10986458510160446, 1.7184745073318481, 0.7116619944572449], "std": [0.01124979555606842, 0.008037575520575047, 0.02850298210978508, 0.06819438934326172, 0.16383826732635498, 0.0822933167219162, 0.05418722331523895, 0.061546362936496735, 0.04882838577032089, 0.31421011686325073, 0.14054618775844574, 0.19755437970161438], "count": [2212]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.1924280971288681, 0.927658200263977, -1.2776378393173218, 1.2178406715393066, -1.636448860168457, 0.24488738179206848, -0.28984159231185913, 0.9543883204460144, -0.5786410570144653, 1.2201755046844482, 0.42464718222618103], "max": [0.4339115619659424, 0.24264058470726013, 1.0518072843551636, -0.9263082146644592, 1.9610704183578491, -1.2073081731796265, 0.45645007491111755, -0.03433612734079361, 1.1342073678970337, 1.2208518981933594, 2.071976661682129, 1.600746512413025], "mean": [0.417683482170105, 0.21876844763755798, 0.9742929339408875, -1.1848175525665283, 1.7219032049179077, -1.4508662223815918, 0.39504754543304443, -0.14556220173835754, 1.0454936027526855, -0.10976520925760269, 1.717368245124817, 0.7122449278831482], "std": [0.01126469299197197, 0.00807451643049717, 0.0285416841506958, 0.06843380630016327, 0.16382628679275513, 0.08225704729557037, 0.054161570966243744, 0.06169653683900833, 0.04904049634933472, 0.3163393437862396, 0.1414531022310257, 0.19946692883968353], "count": [2212]}, "subtask_index": {"min": [50], "max": [843], "mean": [786.4312839059675], "std": [145.41984884821858], "count": [2212]}, "observation.tactile": {"min": [-0.020431453362107277, -3.721615576068871e-05, -8.389142021769658e-05, -0.0016629074234515429, -0.00013444382057059556, -0.0001917487825267017, -0.002576563972979784, -5.422183676273562e-05, -0.00012440222781151533, -0.00035144222783856094, -1.7118887626565993e-05, -5.692386184819043e-05, -0.021764978766441345, -4.6756278607062995e-05, -0.00010459311306476593, -0.002159403869882226, -9.479480650043115e-05, -0.00048000048263929784, -0.026446441188454628, -3.378971814527176e-05, -7.276736869243905e-05, -0.001804003375582397, -6.151709385449067e-05, -0.0005510610644705594, -0.02035524696111679, -4.440071643330157e-05, -0.0001003115248749964, -0.0019762739539146423, -4.2592080717440695e-05, -0.00043821954750455916, -8.792494773864746, -3.996494342572987e-05, -9.115545253735036e-05, -0.3554365336894989, -0.035417262464761734, -0.1489524394273758, -6.415933609008789, -0.34082889556884766, -9.581944323144853e-05, -0.17905189096927643, -0.02375645935535431, -0.11591356247663498, -0.006464575417339802, -4.216713205096312e-05, -9.24920168472454e-05, -0.0008412266615778208, -3.080503665842116e-05, -0.00015001582505647093, -0.012883529998362064, -5.5442997108912095e-05, -0.0001236539101228118, -0.001642919611185789, -7.115866901585832e-05, -0.0002865727001335472, -0.006800444331020117, -4.517676279647276e-05, -0.00010231302439933643, -0.0011211244855076075, -7.117321365512908e-05, -0.0001494262833148241], "max": [0.038709405809640884, 0.03168795257806778, 0.09295767545700073, 1.5925777461234247e-06, 0.0005070591578260064, 0.0005272443522699177, 0.00039175187703222036, 0.0072638047859072685, 0.02113882638514042, 2.129306722054025e-06, 2.7739799406845123e-05, 7.716399522905704e-06, 0.00047066903789527714, 0.03433122858405113, 0.10306428372859955, 1.96411860997614e-06, 8.426036947639659e-05, 7.683387593715452e-06, 0.0003157286555506289, 0.03079192154109478, 0.09236115962266922, 1.3616597698273836e-06, 0.00014182947052177042, 5.6022327044047415e-06, 0.0004742053570225835, 0.03245873749256134, 0.09741814434528351, 1.8864490129999467e-06, 0.00015941550373099744, 7.3243036240455694e-06, 9.604924201965332, 10.69179916381836, 17.678707122802734, 1.6866891883182689e-06, 0.04521551728248596, 0.14266911149024963, 0.04701405018568039, 5.847835063934326, 12.047722816467285, 1.8255668692290783e-06, 0.0056866868399083614, 0.002006674185395241, 0.011858499608933926, 0.015675943344831467, 0.04922489821910858, 1.7198898376591387e-06, 0.00021105579799041152, 0.00014277332229539752, 0.007273097988218069, 0.02430332452058792, 0.07018719613552094, 2.24574000640132e-06, 0.00018529663793742657, 0.00011041139805456623, 0.00036969687789678574, 0.018869778141379356, 0.05322778597474098, 1.8654341147339437e-06, 8.249303209595382e-05, 7.654257387912367e-06], "mean": [0.0012985722860321403, 0.0020243097096681595, 0.005871828645467758, -0.00010009144898504019, 2.4614291760371998e-05, 1.5996543879737146e-05, 4.059974162373692e-05, 0.0005910341278649867, 0.0018011091742664576, -2.9567585443146527e-05, 5.619151579594472e-07, 9.719198033053544e-07, -0.0017746142111718655, 0.0036219796165823936, 0.010570046491920948, -0.00021492566156666726, -4.521122718870174e-06, -3.4288161259610206e-05, -0.002998508745804429, 0.003855476388707757, 0.011268596164882183, -0.00021023293083999306, 1.1595559954002965e-05, -5.989698911434971e-05, -0.0003686764102894813, 0.0012500714510679245, 0.0037142056971788406, -6.5976484620478e-05, 5.8855489442066755e-06, -8.076645826804452e-06, 1.6367583274841309, 3.313396453857422, 6.841488838195801, -0.12271121144294739, 0.005746850743889809, 0.027496570721268654, -1.907315731048584, 0.9615505933761597, 4.056405067443848, -0.06618236750364304, -0.003160524182021618, -0.030845172703266144, 9.162657079286873e-05, 0.0005968383047729731, 0.0017685306956991553, -3.004276550200302e-05, 2.2351237021212e-06, 1.2425822433215217e-06, -0.0011804624227806926, 0.004683926701545715, 0.013553671538829803, -0.0003048206272069365, 8.778785741014872e-06, -3.0355045964824967e-05, -0.0010096775367856026, 0.0027164053171873093, 0.007837621495127678, -0.0001671864156378433, -6.6779048211174086e-06, -1.9780594811891206e-05], "std": [0.004327176604419947, 0.00450374698266387, 0.013071006163954735, 0.00023112994676921517, 6.925834168214351e-05, 5.71478194615338e-05, 0.00048272209824062884, 0.0011501910630613565, 0.0034095561131834984, 5.60753614990972e-05, 4.530408659775276e-06, 9.325913197244518e-06, 0.0029180089477449656, 0.005179688800126314, 0.01506182923913002, 0.0003131789853796363, 1.811981746868696e-05, 5.983218579785898e-05, 0.00512767443433404, 0.006296032574027777, 0.018451595678925514, 0.0003557573654688895, 2.4341354219359346e-05, 0.00010527059203013778, 0.0019937714096158743, 0.0034320768900215626, 0.010076416656374931, 0.00019738986156880856, 1.8819944671122357e-05, 4.437999814399518e-05, 2.3087754249572754, 3.191642999649048, 6.34791898727417, 0.11523470282554626, 0.012948911637067795, 0.03862198814749718, 1.9099581241607666, 1.2209126949310303, 3.817500352859497, 0.061316102743148804, 0.0068010445684194565, 0.03199859336018562, 0.0008116411045193672, 0.0014609467471018434, 0.0043107448145747185, 8.167802297975868e-05, 1.4581432878912892e-05, 1.5168773643381428e-05, 0.0015975740971043706, 0.00466961320489645, 0.013467244803905487, 0.0003047708887606859, 2.185690391343087e-05, 3.663230745587498e-05, 0.0014559758128598332, 0.0033367332071065903, 0.009606203995645046, 0.00020739388128276914, 1.3255102203402203e-05, 2.8477710657170974e-05], "count": [2212]}, "timestamp": {"min": [0.0], "max": [73.7], "mean": [36.85], "std": [21.284977749055265], "count": [2212]}, "frame_index": {"min": [0], "max": [2211], "mean": [1105.5], "std": [638.549332471658], "count": [2212]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [2212]}, "index": {"min": [36088], "max": [38299], "mean": [37193.5], "std": [638.549332471658], "count": [2212]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2212]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5658677816390991]], [[0.5663681626319885]], [[0.5667639374732971]]], "std": [[[0.29612138867378235]], [[0.2953667640686035]], [[0.2960492670536041]]], "count": [2212]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3057296574115753]], [[0.3086498975753784]], [[0.3059999644756317]]], "std": [[[0.18259014189243317]], [[0.18231002986431122]], [[0.18208953738212585]]], "count": [2212]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3089790940284729]], [[0.3117820620536804]], [[0.3084883987903595]]], "std": [[[0.1844988763332367]], [[0.18318794667720795]], [[0.18208594620227814]]], "count": [2212]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5678141117095947]], [[0.5679985880851746]], [[0.5679873824119568]]], "std": [[[0.3022812306880951]], [[0.3018917739391327]], [[0.3028266131877899]]], "count": [2212]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6274510025978088]], [[0.6274510025978088]], [[0.6274510025978088]]], "mean": [[[0.0034857941791415215]], [[0.0034857941791415215]], [[0.0034857941791415215]]], "std": [[[0.036955326795578]], [[0.036955326795578]], [[0.036955326795578]]], "count": [2212]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.491451621055603]], [[0.491451621055603]], [[0.491451621055603]]], "std": [[[0.2216983139514923]], [[0.2216983139514923]], [[0.2216983139514923]]], "count": [2212]}}}
+{"episode_index": 16, "stats": {"observation.state": {"min": [1.0505263805389404, -0.7793442010879517, -0.2245989888906479, 0.9678269624710083, -0.08684799820184708, -0.76796555519104, 0.24249397218227386, 0.0068953572772443295, -0.00018429054762236774, -0.2556414008140564, 0.00549593148753047, 0.003495635464787483, 0.0036122514866292477, -0.06833937764167786, 0.0034871259704232216, 0.0008203323232010007, -0.002367280190810561, -0.057849008589982986, 0.0030407311860471964, 0.000828313990496099, -0.003226615721359849, -0.02695634961128235, 0.002661349019035697, 0.000848267984110862, 0.005942574702203274, -0.003042631782591343, -0.010915745981037617, 0.0023943630512803793, 0.0008584667230024934, 0.9899521470069885, -1.0601460933685303, -0.24236680567264557, 1.1100205183029175, -1.6840393543243408, -0.7790279388427734, -0.3939683437347412, 0.005590869579464197, -0.2292594611644745, -0.3126008212566376, -0.15780995786190033, 0.003259141929447651, 0.005322336684912443, -0.07183339446783066, 0.003578957635909319, 0.000854919315315783, 0.005317185074090958, -0.08409343659877777, 0.0033967122435569763, 0.0008553627412766218, -0.0018209670670330524, -0.14137138426303864, 0.003542437683790922, 0.0008495982619933784, 0.006264749448746443, -0.001081340480595827, -0.1642422378063202, 0.0032321950420737267, 0.0008708825334906578, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.00047936898772604764, -9.58738019107841e-05, -0.0036432044580578804, -0.7468568682670593], "max": [1.2354252338409424, -0.5391970872879028, -0.002439868403598666, 1.5678763389587402, 0.10967494547367096, 0.15517102181911469, 0.6981667876243591, 1.2958921194076538, 0.29691052436828613, 0.0018332400359213352, 0.22896729409694672, 0.44518986344337463, 0.3548933267593384, 0.11781925708055496, 0.03007969632744789, 0.03167325630784035, 0.219370499253273, 0.1616799533367157, 0.04564748704433441, 0.027202220633625984, 0.04523250833153725, 0.17334318161010742, 0.008866553194820881, 0.008471150882542133, 0.24028785526752472, 0.025181496515870094, 0.23384477198123932, 0.0024351379834115505, 0.003770424984395504, 1.3428620100021362, -0.3567654490470886, -1.9893812350346707e-05, 1.7536635398864746, 0.1546332836151123, -0.14737851917743683, 0.6858423352241516, 1.3586559295654297, 0.22653086483478546, 0.36549997329711914, 0.29800745844841003, 0.994038999080658, 1.122246265411377, 0.12487035989761353, 0.8367616534233093, 0.5145102143287659, 1.3436037302017212, 0.16117337346076965, 1.3931857347488403, 1.0637608766555786, 1.4291850328445435, 0.20467029511928558, 1.542451024055481, 1.074054479598999, 0.24193191528320312, 1.457790732383728, 0.22447696328163147, 1.5081942081451416, 1.3081809282302856, 0.5627791881561279, -1.106767177581787, 0.5443714261054993, 0.0005752427969127893, 9.58738019107841e-05, 0.06366020441055298, -0.5999782085418701], "mean": [1.1399235725402832, -0.6113193035125732, -0.22189287841320038, 1.1155169010162354, 0.06695374846458435, -0.008877340704202652, 0.3850962221622467, 1.1854270696640015, 0.2855370342731476, -0.1368331015110016, 0.19777101278305054, 0.41425707936286926, 0.235711932182312, 0.09824462234973907, 0.02045048400759697, 0.022427603602409363, 0.12349382042884827, 0.13282212615013123, 0.029291555285453796, 0.019733043387532234, 0.018083611503243446, 0.14275412261486053, 0.004394154995679855, 0.0034443021286278963, 0.1833956241607666, 0.008513739332556725, 0.209660604596138, 0.0024146174546331167, 0.002089331392198801, 1.2198258638381958, -0.6240935921669006, -0.21672135591506958, 1.341705322265625, -1.2984431982040405, -0.44833195209503174, -0.07076048105955124, 1.2423076629638672, -0.00898148212581873, 0.08584444224834442, 0.02919374220073223, 0.1792948842048645, 0.8750637173652649, 0.06855062395334244, 0.23918716609477997, 0.15152785181999207, 1.222823977470398, -0.03982154279947281, 1.2444286346435547, 0.8777730464935303, 1.319298267364502, -0.09244219213724136, 1.3700203895568848, 0.8153268098831177, 0.03439642861485481, 1.2811144590377808, -0.10931356251239777, 1.0906950235366821, 1.237957239151001, 0.5626872181892395, -1.106845736503601, 0.5441781282424927, 0.00028341097640804946, -4.073957313721621e-07, 0.044779665768146515, -0.698244035243988], "std": [0.05018625780940056, 0.052356455475091934, 0.02022923156619072, 0.11954174190759659, 0.04418205842375755, 0.17857924103736877, 0.0930429995059967, 0.14282061159610748, 0.034877125173807144, 0.04079820588231087, 0.027454685419797897, 0.06396429240703583, 0.039645060896873474, 0.027910420671105385, 0.0036532494705170393, 0.0037787100300192833, 0.04027751088142395, 0.036481428891420364, 0.008828338235616684, 0.0057278163731098175, 0.015525219962000847, 0.03824883699417114, 0.002639506943523884, 0.0027288382407277822, 0.07911048084497452, 0.008142676204442978, 0.044476017355918884, 6.2962462834548205e-06, 0.0008440599776804447, 0.10299566388130188, 0.1562560796737671, 0.025729473680257797, 0.16388437151908875, 0.3187931478023529, 0.1081060841679573, 0.1805294007062912, 0.16905467212200165, 0.08982378244400024, 0.19153858721256256, 0.08286885172128677, 0.17710715532302856, 0.2015308439731598, 0.02980993315577507, 0.12031862884759903, 0.09710918366909027, 0.2513750195503235, 0.02532341331243515, 0.2911740243434906, 0.21611300110816956, 0.285563200712204, 0.04474496841430664, 0.31924954056739807, 0.2198774814605713, 0.027254393324255943, 0.2819332778453827, 0.05575968697667122, 0.2813931107521057, 0.2866377830505371, 4.5329914428293705e-05, 3.633084270404652e-05, 6.045313421054743e-05, 0.00023213759413920343, 8.058036655711476e-06, 0.01201443001627922, 0.029585344716906548], "count": [2118]}, "observation.state.joint_torque": {"min": [-35.458499908447266, -9.800999641418457, -19.246000289916992, -7.390999794006348, -0.3984000086784363, -0.9495999813079834, 0.8551999926567078, -0.5437962412834167, -0.29927897453308105, -0.36037999391555786, -0.3889618515968323, -0.08965382725000381, -0.5257863998413086, -0.7061657309532166, -0.10293588042259216, -0.04281017929315567, -0.4116101562976837, -0.36555588245391846, -0.1328205019235611, -0.03496164828538895, -0.2177983820438385, -0.5152323246002197, -0.0879935771226883, -0.03710215538740158, -0.10027465224266052, -0.13816285133361816, -0.5545703172683716, -0.0016602561809122562, -0.028540121391415596, 12.583499908447266, -5.221499919891357, 6.015999794006348, -9.595000267028809, -2.1975998878479004, -1.2167999744415283, -3.319999933242798, -1.4951212406158447, -1.5957300662994385, -0.5393272638320923, -0.87361079454422, -0.2473781555891037, -0.47973212599754333, -1.0966676473617554, -0.1411217600107193, -0.05850724130868912, -1.4612640142440796, -0.984410285949707, -0.5794293284416199, -0.11344698071479797, -1.2751280069351196, -0.3434881865978241, -0.728852391242981, -0.10060391575098038, -0.15744879841804504, -1.0131943225860596, -0.48644834756851196, -0.6375383138656616, -0.13556556403636932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.345500946044922, 11.728500366210938, -10.579000473022461, 3.6559998989105225, 2.112799882888794, 1.432800054550171, 2.6152000427246094, 0.40370821952819824, 0.29927897453308105, 0.42002907395362854, 0.30942970514297485, 0.08965382725000381, 0.33197465538978577, 0.4020155072212219, 0.08633331209421158, 0.014983562752604485, 0.3550017774105072, 0.2887987494468689, 0.12617947161197662, 0.014270060695707798, 0.38666409254074097, 0.3972181975841522, 0.06641025096178055, 0.012843053787946701, 0.0672895684838295, 0.16982516646385193, 0.3952992856502533, -0.0, 0.01212955079972744, 36.97200012207031, 11.365500450134277, 22.233999252319336, 1.6200000047683716, 0.2152000069618225, 3.5048000812530518, 0.5631999969482422, 2.4961140155792236, 4.433149337768555, 2.3312857151031494, 1.3719291687011719, 0.660781979560852, 2.1434431076049805, 0.749341607093811, 1.0592433214187622, 0.21405088901519775, 1.6032646894454956, 0.6102192401885986, 0.6840255260467529, 0.16481918096542358, 1.5658456087112427, 0.4854888916015625, 0.7703588008880615, 0.15768416225910187, 0.11962589621543884, 1.6176567077636719, 0.6572329998016357, 0.6690832376480103, 0.16267867386341095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.440786361694336, 1.8610984086990356, -12.751496315002441, -1.680544376373291, -0.029489604756236076, -0.27478617429733276, 1.7252801656723022, 0.004070110619068146, -0.005105537362396717, 0.01623300276696682, 0.0012514913687482476, 0.002659706398844719, 0.019581304863095284, 0.017931334674358368, 0.0005361731746234, 0.00020549373584799469, 0.005286110565066338, 0.007764029316604137, 0.001954995794221759, 0.00031902058981359005, 0.01831723004579544, 0.024345913901925087, -0.0002516255481168628, -0.0018117153085768223, -0.007153918966650963, 0.005499471910297871, 0.005567443091422319, -7.838792157599528e-07, -0.0015799476532265544, 27.013858795166016, 0.9755586385726929, 13.006978034973145, -2.507831573486328, -0.7110206484794617, 1.5466485023498535, -1.0647330284118652, 0.16362057626247406, 1.1458109617233276, 0.38982245326042175, 0.20427119731903076, 0.11358331888914108, 0.8671523928642273, -0.1057729497551918, 0.3668763041496277, 0.11154100298881531, -0.08713462203741074, -0.07714489102363586, 0.002347719855606556, -0.0014576606918126345, 0.004642413463443518, -0.004578975960612297, -0.0015810818877071142, -0.0010281451977789402, -0.002021050313487649, -0.021495956927537918, 0.014988101087510586, -0.015677567571401596, 0.000575051293708384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6903494596481323, 0.9683059453964233, 0.9136011600494385, 0.6711564064025879, 0.26436349749565125, 0.34938865900039673, 0.19210925698280334, 0.04521631821990013, 0.027699194848537445, 0.07622887194156647, 0.07031982392072678, 0.012371490709483624, 0.05580269917845726, 0.06861594319343567, 0.0076081352308392525, 0.00440949434414506, 0.035492122173309326, 0.0383947417140007, 0.017474820837378502, 0.004330101422965527, 0.04820038378238678, 0.07372557371854782, 0.0048786490224301815, 0.006457604002207518, 0.016286388039588928, 0.02049885131418705, 0.05259624496102333, 3.606702375691384e-05, 0.005429673474282026, 4.026993751525879, 1.938811182975769, 1.2389107942581177, 1.5967153310775757, 0.27791282534599304, 0.5951147079467773, 0.4392864406108856, 0.5572260618209839, 1.2693235874176025, 0.5417025685310364, 0.3522073030471802, 0.14093543589115143, 0.8988500833511353, 0.2835513651371002, 0.38121846318244934, 0.1027919203042984, 0.19410936534404755, 0.14409498870372772, 0.034406766295433044, 0.010140960104763508, 0.07813053578138351, 0.059875182807445526, 0.03326687961816788, 0.011644233018159866, 0.017311276867985725, 0.12375043332576752, 0.09362736344337463, 0.041767604649066925, 0.013532422482967377, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2118]}, "observation.state.tcp": {"min": [0.3620368242263794, 0.1873558908700943, 0.9466648697853088, -1.2957022190093994, 1.218367338180542, -1.6424598693847656, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2568672299385071, -0.2737972140312195, 0.95433509349823, -0.6148571372032166, 1.2176167964935303, 0.420388400554657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4182874262332916, 0.21908454596996307, 1.0543047189712524, -0.9485538601875305, 1.8888192176818848, -1.197218418121338, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45042312145233154, -0.04782580956816673, 1.1090046167373657, 1.2086700201034546, 1.9938068389892578, 1.5681076049804688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40902528166770935, 0.20175571739673615, 0.9856276512145996, -1.2030248641967773, 1.6893354654312134, -1.5343040227890015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38917672634124756, -0.1462240368127823, 1.0442482233047485, -0.08506052196025848, 1.6682562828063965, 0.7074944376945496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007643376011401415, 0.006733418442308903, 0.030893690884113312, 0.070916548371315, 0.15096572041511536, 0.06081989407539368, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05299790948629379, 0.05358118191361427, 0.04493402689695358, 0.28489717841148376, 0.137735977768898, 0.171981081366539, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2118]}, "action": {"min": [1.050182580947876, -0.7790619134902954, -0.2245364487171173, 0.9678214192390442, -0.08734621852636337, -0.7663995623588562, 0.2424735724925995, 0.0, 0.0, -0.2594910264015198, 0.0, 0.0, 0.0, -0.07400578260421753, 0.0, 0.0, 0.0, -0.06741971522569656, 0.0, 0.0, 0.0, -0.06425648927688599, 0.0, 0.0, 0.0, 0.0, -0.01779765449464321, 0.0, 0.0, 0.9899511337280273, -1.0601762533187866, -0.2423604428768158, 1.110018014907837, -1.6840381622314453, -0.7790945172309875, -0.3939957320690155, 0.0, -0.22518715262413025, -0.3114212155342102, -0.16210444271564484, 0.0, 0.0, -0.0781928300857544, 0.0, 0.0, 0.0, -0.09267399460077286, 0.0, 0.0, 0.0, -0.14500536024570465, 0.0, 0.0, 0.0, 0.0, -0.1649627536535263, 0.0, 0.0, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.00042284096707589924, -0.00011816437472589314, -0.0042295558378100395, -0.7467227578163147], "max": [1.2359381914138794, -0.5391840934753418, -0.002057843841612339, 1.5663213729858398, 0.10966959595680237, 0.15519946813583374, 0.7070772051811218, 1.3015769720077515, 0.29430434107780457, 0.0, 0.235126331448555, 0.4483819305896759, 0.3638196289539337, 0.11958181113004684, 0.03409050032496452, 0.0337897352874279, 0.22862298786640167, 0.16717642545700073, 0.05008147656917572, 0.03175204247236252, 0.047490887343883514, 0.1789986789226532, 0.012392427772283554, 0.011081383563578129, 0.26179999113082886, 0.02978188544511795, 0.24350103735923767, 0.008375785313546658, 0.007888490334153175, 1.3428534269332886, -0.3567260503768921, 0.0, 1.7539758682250977, 0.1555204689502716, -0.1412113755941391, 0.6863476037979126, 1.3611207008361816, 0.23125267028808594, 0.388309508562088, 0.29743820428848267, 0.99549400806427, 1.1588904857635498, 0.10307300090789795, 0.8494942784309387, 0.5259220004081726, 1.3483060598373413, 0.20526669919490814, 1.3974729776382446, 1.0648267269134521, 1.4351502656936646, 0.24488897621631622, 1.5488795042037964, 1.0757025480270386, 0.26180002093315125, 1.4697620868682861, 0.2623897194862366, 1.5225002765655518, 1.5164508819580078, 0.5626999735832214, -1.106863021850586, 0.544392466545105, 0.00042282577487640083, 3.0327999411383644e-05, 0.06455540657043457, -0.6000000238418579], "mean": [1.140000820159912, -0.6113338470458984, -0.2219185084104538, 1.1156153678894043, 0.06694726645946503, -0.009095889516174793, 0.3852193057537079, 1.1928730010986328, 0.2856961786746979, -0.13533593714237213, 0.19918452203273773, 0.42018070816993713, 0.2401011884212494, 0.10087403655052185, 0.025887751951813698, 0.025841128081083298, 0.12446978688240051, 0.13984933495521545, 0.03265659883618355, 0.023130426183342934, 0.01867716573178768, 0.14784890413284302, 0.005811797920614481, 0.005349901970475912, 0.19054999947547913, 0.008726207539439201, 0.21321092545986176, 0.0028385778423398733, 0.0027845415752381086, 1.2208256721496582, -0.6249777674674988, -0.21674641966819763, 1.3423525094985962, -1.298122763633728, -0.4482516348361969, -0.07071885466575623, 1.241837978363037, -0.006188028492033482, 0.08596404641866684, 0.029218697920441628, 0.17884299159049988, 0.8956270813941956, 0.058014579117298126, 0.24304121732711792, 0.1816016584634781, 1.2238316535949707, -0.03897877037525177, 1.246188759803772, 0.8791316151618958, 1.3215737342834473, -0.09153640270233154, 1.3719775676727295, 0.8170179724693298, 0.0374329574406147, 1.2820721864700317, -0.10952813178300858, 1.0913972854614258, 1.3580385446548462, 0.5626911520957947, -1.1068522930145264, 0.5441946983337402, 0.0003051652165595442, -2.3581517325510504e-06, 0.04480671137571335, -0.6982840895652771], "std": [0.0502280592918396, 0.05235501751303673, 0.02018369920551777, 0.1196591779589653, 0.044188644737005234, 0.17891661822795868, 0.09324044734239578, 0.15819305181503296, 0.03786720708012581, 0.04237937554717064, 0.030523335561156273, 0.06553280353546143, 0.04145288094878197, 0.027290882542729378, 0.0038994920905679464, 0.0038794081192463636, 0.04186398908495903, 0.035762082785367966, 0.0078842518851161, 0.005528336390852928, 0.015104910358786583, 0.037842437624931335, 0.0034871965181082487, 0.0032353501301258802, 0.08815525472164154, 0.009657221846282482, 0.04415624961256981, 0.002861029701307416, 0.0027956576086580753, 0.10292030870914459, 0.15712036192417145, 0.02574854902923107, 0.1644178330898285, 0.32164597511291504, 0.1091143786907196, 0.18105284869670868, 0.17844559252262115, 0.09064886718988419, 0.19127747416496277, 0.08253259211778641, 0.17747387290000916, 0.20907509326934814, 0.02633238025009632, 0.12084352225065231, 0.11313723772764206, 0.24612873792648315, 0.027194900438189507, 0.2863592505455017, 0.21307307481765747, 0.27949583530426025, 0.04532552883028984, 0.3139348328113556, 0.21727284789085388, 0.030695442110300064, 0.2756474018096924, 0.054859042167663574, 0.27741342782974243, 0.31158727407455444, 9.298062650486827e-06, 1.3283027328725439e-05, 3.3012667699949816e-05, 0.00025350815849378705, 1.283356687054038e-05, 0.01207352988421917, 0.02965589612722397], "count": [2118]}, "observation.state.tcp_pose": {"min": [0.3620368242263794, 0.1873558908700943, 0.9466648697853088, -1.2957022190093994, 1.218367338180542, -1.6424598693847656, 0.2568672299385071, -0.2737972140312195, 0.95433509349823, -0.6148571372032166, 1.2176167964935303, 0.420388400554657], "max": [0.4182874262332916, 0.21908454596996307, 1.0543047189712524, -0.9485538601875305, 1.8888192176818848, -1.197218418121338, 0.45042312145233154, -0.04782580956816673, 1.1090046167373657, 1.2086700201034546, 1.9938068389892578, 1.5681076049804688], "mean": [0.40902528166770935, 0.20175571739673615, 0.9856276512145996, -1.2030248641967773, 1.6893354654312134, -1.5343040227890015, 0.38917672634124756, -0.1462240368127823, 1.0442482233047485, -0.08506052196025848, 1.6682562828063965, 0.7074944376945496], "std": [0.007643376011401415, 0.006733418442308903, 0.030893690884113312, 0.070916548371315, 0.15096572041511536, 0.06081989407539368, 0.05299790948629379, 0.05358118191361427, 0.04493402689695358, 0.28489717841148376, 0.137735977768898, 0.171981081366539], "count": [2118]}, "action.tcp_pose": {"min": [0.36210671067237854, 0.1873675137758255, 0.9466137290000916, -1.295739769935608, 1.2204233407974243, -1.6457016468048096, 0.2568988502025604, -0.276665061712265, 0.9543202519416809, -0.6149024367332458, 1.217836856842041, 0.4203376770019531], "max": [0.4183041453361511, 0.21906690299510956, 1.0544538497924805, -0.9479995369911194, 1.888887643814087, -1.1973189115524292, 0.45027923583984375, -0.047805190086364746, 1.10880446434021, 1.2088515758514404, 1.9938182830810547, 1.5637381076812744], "mean": [0.4090332090854645, 0.20174431800842285, 0.9856634736061096, -1.202911138534546, 1.689171552658081, -1.5342284440994263, 0.38926634192466736, -0.146500363945961, 1.0447654724121094, -0.08463774621486664, 1.6665364503860474, 0.7078136801719666], "std": [0.007635979447513819, 0.006728657055646181, 0.030937427654862404, 0.07107973098754883, 0.15116752684116364, 0.060775384306907654, 0.05296420678496361, 0.0539097897708416, 0.045097965747117996, 0.2873692810535431, 0.13896076381206512, 0.1737954318523407], "count": [2118]}, "subtask_index": {"min": [50], "max": [897], "mean": [840.4697828139755], "std": [155.29880055333672], "count": [2118]}, "observation.tactile": {"min": [-0.009138469584286213, -4.27899431088008e-05, -9.413718362338841e-05, -0.001733037643134594, -4.946781336911954e-05, -0.0001774767879396677, -0.0022183191031217575, -5.077254900243133e-05, -0.00011664191697491333, -0.00046754360664635897, -1.1821366570075043e-05, -5.0264945457456633e-05, -0.02006661705672741, -4.840404653805308e-05, -0.000107900908915326, -0.0014403614914044738, -3.9984264731174335e-05, -0.0004254109226167202, -0.01566379889845848, -3.087943696300499e-05, -6.768433377146721e-05, -0.0013213768834248185, -1.2501825040089898e-05, -0.00035390740958973765, -0.009069099090993404, -4.374081618152559e-05, -9.761218097992241e-05, -0.0007897071773186326, -5.7482164265820757e-05, -0.00017480597307439893, -6.52644681930542, -4.0428185457130894e-05, -9.1028050519526e-05, -0.32613134384155273, -0.01854669488966465, -0.1068490520119667, -5.464737415313721, -1.9164347648620605, -0.0001127647192333825, -0.22789552807807922, -0.031614188104867935, -0.09100575745105743, -0.1744050681591034, -4.6727695007575676e-05, -0.00010332190140616149, -0.002720561344176531, -0.0010157820070162416, -0.00330520560964942, -0.010016760788857937, -4.927688496536575e-05, -0.00011181964509887621, -0.001743078581057489, -8.62607266753912e-05, -0.00022562315280083567, -0.13322171568870544, -4.004603033536114e-05, -8.927493763621897e-05, -0.0011248801602050662, -0.00014431701856665313, -0.002103674691170454], "max": [0.018079040572047234, 0.02520621009171009, 0.07395073771476746, 1.787246901585604e-06, 0.00036728204577229917, 0.00023930263705551624, 0.0014122668653726578, 0.007437767460942268, 0.020103132352232933, 1.993527803278994e-06, 0.00011612859816523269, 7.285360879905056e-06, 0.007994676940143108, 0.023999877274036407, 0.07076588273048401, 2.025944695560611e-06, 0.00023919805244076997, 7.88418619777076e-05, 0.0074916863813996315, 0.022433975711464882, 0.06276223808526993, 1.2267042848179699e-06, 0.0001561360841151327, 7.57811576477252e-05, 0.0008250651881098747, 0.013881992548704147, 0.04223999008536339, 1.8400969565846026e-06, 0.00011451847240095958, 7.237400495796464e-06, 9.346206665039062, 13.045093536376953, 18.945377349853516, 1.6560750282224035e-06, 0.0687694400548935, 0.14397604763507843, 0.0008453899063169956, 6.4614081382751465, 13.17520809173584, 2.12643635677523e-06, 0.006381911225616932, 0.00012520738528110087, 0.0033715737517923117, 0.06906185299158096, 0.12168371677398682, 1.8994653601112077e-06, 0.00011249593080719933, 2.9515766073018312e-05, 0.007338554132729769, 0.02892550826072693, 0.0805966705083847, 2.0495604076131713e-06, 0.00017428016872145236, 7.115364860510454e-05, 0.00043006695341318846, 0.020616786554455757, 0.05552399903535843, 1.6192029761441518e-06, 7.309341162908822e-05, 7.014998118393123e-06], "mean": [-0.0010764808394014835, 0.0024905765894800425, 0.00745535921305418, -0.00012916982814203948, -2.115895085808006e-06, -1.6639687601127662e-05, -9.356254304293543e-05, 0.0007271291106007993, 0.0021350036840885878, -4.0162231016438454e-05, 3.969873887399444e-06, -3.449008090683492e-06, -0.0003692166355904192, 0.0011692348634824157, 0.003442332148551941, -6.473693065345287e-05, 6.888770940349787e-07, -7.188434210547712e-06, -0.0008692237315699458, 0.002226725686341524, 0.006517163012176752, -0.00011745920346584171, 1.8704724425333552e-05, -2.384551044087857e-05, -0.0005231414106674492, 0.0014321247581392527, 0.004209506791085005, -6.713580660289153e-05, 3.8537832551810425e-06, -9.208091796608642e-06, 2.0971992015838623, 4.037770748138428, 6.904303073883057, -0.12272483855485916, 0.0054589929059147835, 0.03568946197628975, -1.7580043077468872, 0.5275067687034607, 4.439237594604492, -0.07612302899360657, -0.005920550785958767, -0.03006073832511902, -0.00022619978699367493, 0.000491691695060581, 0.001317257760092616, -2.888871131290216e-05, -3.4107752071577124e-06, -4.527586952463025e-06, -0.0010990336304530501, 0.005343395750969648, 0.015511643141508102, -0.00031749060144647956, 1.346042517980095e-05, -3.0750328733120114e-05, -0.001841977471485734, 0.003978988621383905, 0.011317945085465908, -0.00024848993052728474, -1.9412462279433385e-05, -3.285860293544829e-05], "std": [0.0016633024206385016, 0.002976823365315795, 0.008779330179095268, 0.0001688611664576456, 2.800248512357939e-05, 2.7900583518203348e-05, 0.0005037209484726191, 0.0011505897855386138, 0.003327199025079608, 6.297654181253165e-05, 8.301592060888652e-06, 1.1734005965990946e-05, 0.0017349148401990533, 0.0027535581029951572, 0.008043035864830017, 0.0001606121368240565, 1.3284312444739044e-05, 3.584489968488924e-05, 0.002370835980400443, 0.003325406927615404, 0.00962483324110508, 0.00018906343029811978, 2.6048897780128755e-05, 5.281523408484645e-05, 0.0014426630223169923, 0.0021576040890067816, 0.0063223447650671005, 0.00010894957813434303, 1.4740779988642316e-05, 2.6530600734986365e-05, 2.339712619781494, 3.848296642303467, 6.214558124542236, 0.11085344851016998, 0.013691835105419159, 0.03956374153494835, 1.721924066543579, 1.0271282196044922, 4.108977317810059, 0.06954216212034225, 0.008359276689589024, 0.029432497918605804, 0.006963714491575956, 0.002872015116736293, 0.0061332061886787415, 0.00013695427333004773, 4.228886609780602e-05, 0.00013273935473989695, 0.0020428718999028206, 0.0056640226393938065, 0.016263511031866074, 0.00037109083496034145, 2.763510201475583e-05, 4.2603838664945215e-05, 0.004689580760896206, 0.002659676829352975, 0.00749634113162756, 0.00016598096408415586, 1.5983927369234152e-05, 7.387351070065051e-05], "count": [2118]}, "timestamp": {"min": [0.0], "max": [70.56666666666666], "mean": [35.28333333333333], "std": [20.380462230792038], "count": [2118]}, "frame_index": {"min": [0], "max": [2117], "mean": [1058.5], "std": [611.4138669237611], "count": [2118]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2118]}, "index": {"min": [38300], "max": [40417], "mean": [39358.5], "std": [611.4138669237611], "count": [2118]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2118]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5619062185287476]], [[0.5622074007987976]], [[0.5626586675643921]]], "std": [[[0.2934357225894928]], [[0.29285529255867004]], [[0.2937109172344208]]], "count": [2118]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3045070171356201]], [[0.30726364254951477]], [[0.30463600158691406]]], "std": [[[0.18309971690177917]], [[0.18303628265857697]], [[0.1827986240386963]]], "count": [2118]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30925798416137695]], [[0.3119693696498871]], [[0.3086479902267456]]], "std": [[[0.1850488930940628]], [[0.18363404273986816]], [[0.1824881136417389]]], "count": [2118]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5647983551025391]], [[0.5648175477981567]], [[0.5648455619812012]]], "std": [[[0.2999218702316284]], [[0.29969292879104614]], [[0.3007757067680359]]], "count": [2118]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6784313917160034]], [[0.6784313917160034]], [[0.6784313917160034]]], "mean": [[[0.003662534523755312]], [[0.003662534523755312]], [[0.003662534523755312]]], "std": [[[0.03831067308783531]], [[0.03831067308783531]], [[0.03831067308783531]]], "count": [2118]}, "observation.images.tactile_raw": {"min": [[[0.05882352963089943]], [[0.05882352963089943]], [[0.05882352963089943]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4905688464641571]], [[0.4905688464641571]], [[0.4905688464641571]]], "std": [[[0.22153258323669434]], [[0.22153258323669434]], [[0.22153258323669434]]], "count": [2118]}}}
+{"episode_index": 17, "stats": {"observation.state": {"min": [1.050032138824463, -0.7797865271568298, -0.22492341697216034, 1.1042841672897339, -0.00012895026884507388, -0.7689165472984314, 0.3238827884197235, 0.006881264504045248, -0.0006963304476812482, -0.21380266547203064, 0.00010530847794143483, 0.0035204547457396984, 0.003670881735160947, -0.021791253238916397, 0.0035098178777843714, 0.0008695522556081414, 0.007217143662273884, -0.04164527356624603, 0.0030322216916829348, 0.0008411731687374413, -0.0010595119092613459, -0.01629376970231533, 0.0027701996732503176, 0.0008158980635926127, 0.006761391181498766, -0.0008944155997596681, -0.002114608185365796, 0.0023308962117880583, 0.0008513719658367336, 0.9580966830253601, -1.041139841079712, -0.24323782324790955, 1.068850040435791, -1.670638084411621, -0.7699993848800659, -0.37586769461631775, 0.0056125507690012455, -0.1632707417011261, -0.3030508756637573, -0.18822669982910156, 0.003280415665358305, 0.005335583817213774, -0.04071798175573349, 0.003589594503864646, 0.0008544759475626051, -0.0019637402147054672, -0.1001877635717392, 0.006409078370779753, 0.0008531456696800888, -0.0017378062475472689, -0.15411990880966187, 0.003577539464458823, 0.0008416165946982801, 0.014472180046141148, -0.0002747515682131052, -0.1769130378961563, 0.003262687474489212, 0.0008664483320899308, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.00047936898772604764, 0.0, 0.0, -0.7170401215553284], "max": [1.236932396888733, -0.6029253005981445, -0.00034981954377144575, 1.569374918937683, 0.11062542349100113, 0.12540844082832336, 0.6971907019615173, 1.3500735759735107, 0.2723340690135956, 0.09440134465694427, 0.20305626094341278, 0.30397525429725647, 0.32579270005226135, 0.14810965955257416, 0.02614511176943779, 0.02694503404200077, 0.2987931966781616, 0.22495803236961365, 0.04564181715250015, 0.03612477704882622, 0.08803246915340424, 0.22540350258350372, 0.014902631752192974, 0.013176310807466507, 0.007146716583520174, 0.1386248618364334, 0.21965260803699493, 0.02983788400888443, 0.022534750401973724, 1.4303183555603027, -0.34655314683914185, -1.3182647080611787e-06, 1.6989058256149292, 0.1376800537109375, -0.04185178875923157, 0.6981458067893982, 1.3737965822219849, 0.2640092074871063, 0.3720763027667999, 0.23036091029644012, 0.7469121813774109, 1.063605785369873, 0.11799781024456024, 0.8403356075286865, 0.48330920934677124, 1.3256940841674805, 0.20645591616630554, 1.2808821201324463, 0.627109944820404, 1.4257187843322754, 0.2388518750667572, 1.4213634729385376, 0.8271690607070923, 0.13239675760269165, 1.3721128702163696, 0.29115554690361023, 1.467048168182373, 1.3081928491592407, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.0734393298625946, -0.5804199576377869], "mean": [1.1655131578445435, -0.6394332647323608, -0.22232456505298615, 1.2205274105072021, 0.09909971058368683, -0.0500263050198555, 0.4549131989479065, 1.2715117931365967, 0.24203966557979584, 0.06229919567704201, 0.14447681605815887, 0.2769610583782196, 0.2713663578033447, 0.139027401804924, 0.022531067952513695, 0.024787496775388718, 0.19092600047588348, 0.1866934895515442, 0.03825165331363678, 0.02759145200252533, 0.04145614802837372, 0.1854248344898224, 0.00776450801640749, 0.008114841766655445, 0.006963323801755905, 0.06070408970117569, 0.1807195395231247, 0.011808590963482857, 0.011166154406964779, 1.2388566732406616, -0.6350371241569519, -0.22502531111240387, 1.3285771608352661, -1.3265330791473389, -0.36624759435653687, -0.00033860141411423683, 1.2632253170013428, 0.040399130433797836, 0.032700520008802414, -0.02595209889113903, 0.18125557899475098, 0.8196792006492615, 0.06670957803726196, 0.25048863887786865, 0.1963130682706833, 1.2011005878448486, -0.05568988248705864, 1.10952627658844, 0.38652533292770386, 1.323769211769104, -0.11384713649749756, 1.2287381887435913, 0.49415478110313416, 0.03986765816807747, 1.259834885597229, -0.13270770013332367, 0.8836326003074646, 1.2460098266601562, 0.5626984238624573, -1.106856107711792, 0.5440809726715088, -0.0003597723552957177, 7.881118335717474e-08, 0.056429486721754074, -0.6721890568733215], "std": [0.04222367703914642, 0.028888272121548653, 0.019995762035250664, 0.07733932882547379, 0.018325569108128548, 0.15442919731140137, 0.07968826591968536, 0.14003950357437134, 0.03825035318732262, 0.02938775345683098, 0.04511154070496559, 0.03447779640555382, 0.0403565987944603, 0.021054811775684357, 0.002985976869240403, 0.003210382303223014, 0.049599308520555496, 0.03321527689695358, 0.005900176241993904, 0.004895307589322329, 0.019006192684173584, 0.0343228243291378, 0.0037249361630529165, 0.002743530785664916, 5.8587862440617755e-05, 0.03889761120080948, 0.034872058779001236, 0.008864425122737885, 0.005909695755690336, 0.11420334875583649, 0.15737542510032654, 0.023757699877023697, 0.15325285494327545, 0.3128252327442169, 0.1262795776128769, 0.19637873768806458, 0.16143769025802612, 0.08689118921756744, 0.16105766594409943, 0.07722599059343338, 0.2055341750383377, 0.1830870509147644, 0.026855750009417534, 0.16080668568611145, 0.13802695274353027, 0.22669634222984314, 0.035050082951784134, 0.24138781428337097, 0.09046243876218796, 0.258157879114151, 0.053168997168540955, 0.2660982012748718, 0.16094417870044708, 0.016284020617604256, 0.24619360268115997, 0.060899876058101654, 0.28057941794395447, 0.2621006965637207, 2.4046139515121467e-05, 3.042628668481484e-05, 4.3554122385103256e-05, 0.00010778143041534349, 2.747640337474877e-06, 0.009840802289545536, 0.028005331754684448], "count": [2433]}, "observation.state.joint_torque": {"min": [-30.517499923706055, -2.2049999237060547, -15.718000411987305, -6.4629998207092285, -0.24719999730587006, -0.9391999840736389, 1.236799955368042, -4.493005275726318, -0.46738457679748535, -0.38026300072669983, -1.0488300323486328, -0.9164613485336304, -1.9947260618209839, -0.8088283538818359, -0.04150639846920967, -0.04066966846585274, -0.5555298328399658, -0.36843428015708923, -0.09629485011100769, -0.032821137458086014, -0.2792040705680847, -0.49796193838119507, -0.02490384131669998, -0.03424813970923424, -0.001759204315021634, -0.24466337263584137, -0.4519076645374298, -0.1328205019235611, -0.028540121391415596, 13.140000343322754, -5.4045000076293945, 4.090000152587891, -7.876999855041504, -2.3736000061035156, -2.259999990463257, -3.262399911880493, -1.5677123069763184, -0.8456223011016846, -0.5753653049468994, -0.5815787315368652, -0.10957689583301544, -0.4327183663845062, -0.9316397905349731, -0.3370319902896881, -0.05922074615955353, -1.0055185556411743, -0.9162883162498474, -0.12285894900560379, -0.05636673793196678, -0.2724878489971161, -0.37323158979415894, -0.13946151733398438, -0.05279921740293503, -0.15437018871307373, -0.37994784116744995, -0.39913710951805115, -0.43000632524490356, -0.09061487764120102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.547000885009766, 6.315000057220459, -11.753999710083008, -0.34299999475479126, 1.6167999505996704, 0.9983999729156494, 2.4263999462127686, 0.5259668827056885, 0.6061991453170776, 1.5309935808181763, 0.7480990886688232, 0.09961536526679993, 0.3310151696205139, 0.2580958902835846, 0.10127562284469604, 0.016410568729043007, 0.3502044379711151, 0.2916771471500397, 0.12617947161197662, 0.013556556776165962, 0.3550017774105072, 0.3828262388706207, 0.11953844130039215, 0.015697065740823746, 0.001759204315021634, 0.2014874815940857, 0.26193374395370483, 0.10791664570569992, 0.016410568729043007, 39.159000396728516, 8.892000198364258, 20.0939998626709, 1.6959999799728394, 0.31119999289512634, 2.9456000328063965, 0.6304000020027161, 2.4247965812683105, 4.9578423500061035, 2.0491950511932373, 1.4191515445709229, 0.7437946796417236, 2.144402503967285, 0.6543546319007874, 1.0625640153884888, 0.21476440131664276, 0.2935960590839386, 0.21875783801078796, 0.10293588042259216, 0.022832093760371208, 0.3521233797073364, 0.30606910586357117, 0.14610254764556885, 0.028540121391415596, 0.11390847712755203, 0.4327183663845062, 0.378028929233551, 0.1593845784664154, 0.044950686395168304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.333690643310547, 1.533227562904358, -13.476909637451172, -2.110626459121704, 0.12636859714984894, -0.3281136751174927, 1.7060197591781616, -0.0037708517629653215, 0.0011494766222313046, 0.005775216035544872, -0.005732329562306404, 0.0011075212387368083, 0.024440515786409378, 0.013848950155079365, 0.0007349344086833298, 7.507493864977732e-05, 0.009534670040011406, 0.007857885211706161, 0.0008755092858336866, 0.00018710046424530447, 0.02391287125647068, 0.02975098229944706, 0.001294495421461761, 0.00020264263730496168, -4.410659312270582e-05, 0.014047703705728054, 0.01617487519979477, 0.0021897924598306417, 0.0005005958955734968, 26.97365379333496, 1.181004524230957, 12.87024974822998, -2.147904634475708, -0.5673757791519165, 1.5366342067718506, -0.9718618988990784, 0.23925410211086273, 1.0871480703353882, 0.3875337839126587, 0.22751696407794952, 0.1135825365781784, 0.8221594095230103, -0.0686914399266243, 0.38785359263420105, 0.09711549431085587, -0.05688401311635971, -0.06743857264518738, -8.529725164407864e-05, -0.000640481652226299, -0.0039396039210259914, -0.007148065138608217, -0.0011191184166818857, -0.002178334863856435, -0.0034464653581380844, -0.022783050313591957, 0.0029225631151348352, -0.019253641366958618, 0.0017120580887421966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5248228311538696, 0.835229218006134, 0.5836607813835144, 0.5507432818412781, 0.23516903817653656, 0.35463112592697144, 0.18364526331424713, 0.09838317334651947, 0.032967884093523026, 0.05746401473879814, 0.06032388284802437, 0.02040483057498932, 0.0696125254034996, 0.06089852750301361, 0.00616357009857893, 0.004555711522698402, 0.04868343472480774, 0.03764266148209572, 0.01293116807937622, 0.0039048180915415287, 0.047571416944265366, 0.060825347900390625, 0.008312210440635681, 0.0036417990922927856, 0.00043311278568580747, 0.029594531282782555, 0.04882712662220001, 0.010793153196573257, 0.0034191564191132784, 4.115026950836182, 2.165675640106201, 1.5201172828674316, 1.6060330867767334, 0.3127623498439789, 0.6821146011352539, 0.47964006662368774, 0.6450827717781067, 1.4480406045913696, 0.5663903951644897, 0.3730160892009735, 0.1622815579175949, 0.9600775241851807, 0.25404369831085205, 0.4498104751110077, 0.10431607812643051, 0.1430508941411972, 0.1112150326371193, 0.027339935302734375, 0.008298086002469063, 0.0606658048927784, 0.056015610694885254, 0.02821756899356842, 0.009464703500270844, 0.016260556876659393, 0.12043628096580505, 0.0937553271651268, 0.03938699886202812, 0.01188327930867672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2433]}, "observation.state.tcp": {"min": [0.3618246018886566, 0.171361044049263, 0.9641475081443787, -1.2840874195098877, 1.2182775735855103, -1.767074465751648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2497521936893463, -0.27319571375846863, 0.9523509740829468, -0.6647043228149414, 1.2178364992141724, 0.4495928883552551, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40753814578056335, 0.21352413296699524, 1.057681679725647, -1.0561180114746094, 1.8260369300842285, -1.2295986413955688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46254122257232666, -0.044439367949962616, 1.1359918117523193, 1.20885169506073, 1.9498491287231445, 1.459656834602356, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40131667256355286, 0.18680457770824432, 1.0059648752212524, -1.1864149570465088, 1.608068823814392, -1.627023696899414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3912712633609772, -0.15084706246852875, 1.0471004247665405, -0.19916564226150513, 1.700787901878357, 0.7160625457763672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.004551969468593597, 0.00992803368717432, 0.025441186502575874, 0.05085553973913193, 0.13426022231578827, 0.06679928302764893, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05371198430657387, 0.05575231835246086, 0.04722287133336067, 0.3009680211544037, 0.12801194190979004, 0.17841200530529022, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2433]}, "action": {"min": [1.0503522157669067, -0.7794306874275208, -0.22491994500160217, 1.1042778491973877, 0.00045693357242271304, -0.7671886682510376, 0.3238879144191742, 0.0, 0.0, -0.21935738623142242, 0.0, 0.0, 0.0, -0.026863159611821175, 0.0, 0.0, 0.0, -0.047643017023801804, 0.0, 0.0, 0.0, -0.021681802347302437, 0.0, 0.0, -9.35032495874566e-09, 0.0, -0.007422282360494137, 0.0, 0.0, 0.9580965042114258, -1.0412781238555908, -0.24323183298110962, 1.0687181949615479, -1.670631766319275, -0.7699999809265137, -0.3758756220340729, 0.0, -0.17190372943878174, -0.30183106660842896, -0.19209423661231995, 0.0, 0.0, -0.04674491286277771, 0.0, 0.0, 0.0, -0.10763663053512573, 0.0, 0.0, 0.0, -0.15933310985565186, 0.0, 0.0, 0.0, 0.0, -0.1799623668193817, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440841317176819, -0.00042281049536541104, -5.19448185514193e-05, 2.021920171064912e-18, -0.7169864773750305], "max": [1.2369356155395508, -0.6029406785964966, -0.0016560382209718227, 1.568312168121338, 0.11062244325876236, 0.12543654441833496, 0.6973413825035095, 1.3521350622177124, 0.2786201536655426, 0.09619040787220001, 0.2109401524066925, 0.309497594833374, 0.33616122603416443, 0.17958761751651764, 0.0317363366484642, 0.031627558171749115, 0.3022260367870331, 0.22870111465454102, 0.05502241104841232, 0.03883432224392891, 0.09243271499872208, 0.23017513751983643, 0.020196067169308662, 0.018221501260995865, 0.009627810679376125, 0.14503054320812225, 0.22327789664268494, 0.034885626286268234, 0.027191322296857834, 1.430310606956482, -0.34653323888778687, 0.0, 1.6991878747940063, 0.13767461478710175, -0.041855983436107635, 0.7754831910133362, 1.3785765171051025, 0.2852703332901001, 0.38521507382392883, 0.2304196059703827, 0.7503911852836609, 1.1466405391693115, 0.11775147169828415, 0.8486081957817078, 0.5254178643226624, 1.4891993999481201, 0.24471814930438995, 1.2865219116210938, 0.6342531442642212, 1.4734398126602173, 0.28555670380592346, 1.4243766069412231, 0.8289271593093872, 0.16389521956443787, 1.3784419298171997, 0.2938735783100128, 1.4696475267410278, 1.4288979768753052, 0.5626999735832214, -1.106863021850586, 0.5442872643470764, 0.0004228179750498384, 0.00012797459203284234, 0.07493270188570023, -0.580471932888031], "mean": [1.1655844449996948, -0.6394554972648621, -0.22235159575939178, 1.2206108570098877, 0.0991106703877449, -0.050197117030620575, 0.45504269003868103, 1.2768340110778809, 0.24796965718269348, 0.06367279589176178, 0.14619451761245728, 0.2833213210105896, 0.2784973084926605, 0.15514743328094482, 0.027876444160938263, 0.027933675795793533, 0.19266222417354584, 0.19185715913772583, 0.04205532371997833, 0.030551055446267128, 0.04269663617014885, 0.1918506771326065, 0.012346195057034492, 0.01105134654790163, 0.001327012781985104, 0.06226795166730881, 0.18750599026679993, 0.015796495601534843, 0.014238971285521984, 1.2397562265396118, -0.6356236934661865, -0.22506020963191986, 1.3290377855300903, -1.3266825675964355, -0.36620673537254333, 0.00031511232373304665, 1.2646911144256592, 0.043205924332141876, 0.03283266723155975, -0.02568535879254341, 0.18078482151031494, 0.8409292101860046, 0.057372696697711945, 0.25900694727897644, 0.23499679565429688, 1.2013638019561768, -0.05592828616499901, 1.1099213361740112, 0.3869411051273346, 1.3236262798309326, -0.11391597241163254, 1.2290904521942139, 0.49481573700904846, 0.03923752158880234, 1.2587965726852417, -0.1328616887331009, 0.8836988806724548, 1.2968683242797852, 0.5626985430717468, -1.1068629026412964, 0.5441617369651794, -0.00038903133827261627, -3.611718284446397e-07, 0.05649456009268761, -0.6722394824028015], "std": [0.04220424219965935, 0.028917696326971054, 0.019866283982992172, 0.07743558287620544, 0.018298717215657234, 0.15473592281341553, 0.079725481569767, 0.14983265101909637, 0.03808673098683357, 0.02983255684375763, 0.043765924870967865, 0.034537047147750854, 0.040733467787504196, 0.02428586408495903, 0.00362061127088964, 0.0036108531057834625, 0.051909610629081726, 0.03234056010842323, 0.007134226616472006, 0.005107466597110033, 0.020651277154684067, 0.033031824976205826, 0.0037411809898912907, 0.0033917983528226614, 0.0027854465879499912, 0.040991853922605515, 0.034170668572187424, 0.00865247379988432, 0.0065831770189106464, 0.11413464695215225, 0.1577261984348297, 0.02366611175239086, 0.15352453291416168, 0.31348472833633423, 0.12602198123931885, 0.19914180040359497, 0.16934645175933838, 0.09009945392608643, 0.16081176698207855, 0.07687614113092422, 0.20665572583675385, 0.19648858904838562, 0.026470085605978966, 0.16525383293628693, 0.1484851986169815, 0.22705194354057312, 0.03478929400444031, 0.24084419012069702, 0.09042802453041077, 0.2584325969219208, 0.05287892371416092, 0.2652696371078491, 0.16082961857318878, 0.015623291954398155, 0.24709156155586243, 0.0615110844373703, 0.2795524001121521, 0.27866673469543457, 1.5112538676476106e-05, 3.708678605107707e-06, 1.095064180844929e-05, 0.0001102816459024325, 7.2149859988712706e-06, 0.009924779646098614, 0.02804541401565075], "count": [2433]}, "observation.state.tcp_pose": {"min": [0.3618246018886566, 0.171361044049263, 0.9641475081443787, -1.2840874195098877, 1.2182775735855103, -1.767074465751648, 0.2497521936893463, -0.27319571375846863, 0.9523509740829468, -0.6647043228149414, 1.2178364992141724, 0.4495928883552551], "max": [0.40753814578056335, 0.21352413296699524, 1.057681679725647, -1.0561180114746094, 1.8260369300842285, -1.2295986413955688, 0.46254122257232666, -0.044439367949962616, 1.1359918117523193, 1.20885169506073, 1.9498491287231445, 1.459656834602356], "mean": [0.40131667256355286, 0.18680457770824432, 1.0059648752212524, -1.1864149570465088, 1.608068823814392, -1.627023696899414, 0.3912712633609772, -0.15084706246852875, 1.0471004247665405, -0.19916564226150513, 1.700787901878357, 0.7160625457763672], "std": [0.004551969468593597, 0.00992803368717432, 0.025441186502575874, 0.05085553973913193, 0.13426022231578827, 0.06679928302764893, 0.05371198430657387, 0.05575231835246086, 0.04722287133336067, 0.3009680211544037, 0.12801194190979004, 0.17841200530529022], "count": [2433]}, "action.tcp_pose": {"min": [0.36203864216804504, 0.17137375473976135, 0.9641120433807373, -1.2841929197311401, 1.2187209129333496, -1.7671303749084473, 0.2498972862958908, -0.27453601360321045, 0.9523169994354248, -0.6644596457481384, 1.217836856842041, 0.44948193430900574], "max": [0.40748730301856995, 0.21361437439918518, 1.0577781200408936, -1.055874228477478, 1.8260499238967896, -1.2306993007659912, 0.46251609921455383, -0.04439270496368408, 1.1358637809753418, 1.2088515758514404, 1.9496091604232788, 1.4998390674591064], "mean": [0.4013325572013855, 0.18680283427238464, 1.0059616565704346, -1.1863925457000732, 1.6079022884368896, -1.6270087957382202, 0.3913801312446594, -0.15101011097431183, 1.0475733280181885, -0.19977810978889465, 1.6990997791290283, 0.7164374589920044], "std": [0.0045563410967588425, 0.009917782619595528, 0.025469370186328888, 0.0509355366230011, 0.13434766232967377, 0.06705501675605774, 0.05366414040327072, 0.055884186178445816, 0.04731569066643715, 0.29971837997436523, 0.13052162528038025, 0.18041668832302094], "count": [2433]}, "subtask_index": {"min": [50], "max": [947], "mean": [905.6637895602137], "std": [122.23205508256943], "count": [2433]}, "observation.tactile": {"min": [-0.015040796250104904, -4.359504600870423e-05, -9.523660264676437e-05, -0.0010477214818820357, -0.00018735321646090597, -0.00021164889039937407, -0.00393277034163475, -4.9476086132926866e-05, -0.00011287651432212442, -0.000357617944246158, -5.2635812608059496e-05, -7.475816528312862e-05, -0.01039833202958107, -4.5307249820325524e-05, -9.970040991902351e-05, -0.0010767473140731454, -7.732467202004045e-05, -0.00020912328909616917, -0.020728930830955505, -3.487725552986376e-05, -7.552560418844223e-05, -0.0013075439492240548, -6.881299486849457e-05, -0.00041993713239207864, -0.01281346008181572, -5.0968763389391825e-05, -0.0001149352319771424, -0.0011018740478903055, -0.00010812511027324945, -0.0002808173594530672, -1.5378000736236572, -3.9462574932258576e-05, -9.201821376336738e-05, -0.22436606884002686, -0.014355958439409733, -0.034182604402303696, -4.35430908203125, -4.508548590820283e-05, -0.29250773787498474, -0.2343456745147705, -0.026691973209381104, -0.07684054225683212, -0.018647823482751846, -4.676333628594875e-05, -0.00010398236190667376, -0.0016998467035591602, -6.253480387385935e-05, -0.0004002086352556944, -0.012993965297937393, -5.7731009292183444e-05, -0.0001310918596573174, -0.002034165197983384, -6.187060353113338e-05, -0.00030290294671431184, -0.13048973679542542, -4.008639734820463e-05, -8.859435183694586e-05, -0.0012111704563722014, -8.368845010409132e-05, -0.001765507971867919], "max": [0.01463661715388298, 0.027438778430223465, 0.07527296990156174, 1.8116136288881535e-06, 0.0002806503907777369, 0.00022576629999093711, 0.00036398443626239896, 0.0061517381109297276, 0.018121344968676567, 1.941738901223289e-06, 3.524173371260986e-05, 7.145962172216969e-06, 0.0004024619411211461, 0.019154824316501617, 0.05497876927256584, 1.861922328316723e-06, 0.00011750060366466641, 7.50407616578741e-06, 0.010863958857953548, 0.023009702563285828, 0.06957004219293594, 1.3769639508609544e-06, 0.00031187207787297666, 0.00013632612535730004, 0.0012835650704801083, 0.017349636182188988, 0.05092748999595642, 2.148689418390859e-06, 0.00013488606782630086, 8.190627340809442e-06, 5.480747699737549, 7.421492576599121, 9.76460075378418, 1.7014682498484035e-06, 0.028605744242668152, 0.09599972516298294, 2.807220220565796, 11.171272277832031, 13.10097599029541, 0.0061658527702093124, 0.004636193159967661, 0.06810089200735092, 0.003402302972972393, 0.02713753841817379, 0.07917728275060654, 1.917243707794114e-06, 0.00013319299614522606, 1.8854036170523614e-05, 0.1853426843881607, 0.058872390538454056, 0.13435328006744385, 2.3842255814088276e-06, 0.0006376680685207248, 0.0025454226415604353, 0.0005517717218026519, 0.018958432599902153, 0.05663825944066048, 1.6350875284842914e-06, 0.00016763385792728513, 6.759045845683431e-06], "mean": [-0.0018272168235853314, 0.0041100080125033855, 0.012158308178186417, -0.00017856128397397697, -1.521320768915757e-06, -3.026750528078992e-05, 0.0002536312385927886, 4.368909139884636e-05, 0.00015901285223662853, -3.2354146242141724e-06, -1.2370660442684311e-06, 4.780628387379693e-06, -0.0008178635034710169, 0.0021017782855778933, 0.006249364465475082, -0.0001246142783202231, 2.022510216193041e-06, -1.7212236343766563e-05, -0.0017974281217902899, 0.002983303274959326, 0.00871235504746437, -0.00014692789409309626, 7.873835784266703e-06, -3.2354219001717865e-05, -0.00019951695867348462, 0.0010560320224612951, 0.003127892967313528, -4.272644582670182e-05, -1.0503389376026462e-06, -1.3568330814450746e-07, 1.4457811117172241, 1.8191165924072266, 3.4088492393493652, -0.06311797350645065, 0.004544699098914862, 0.02389870025217533, -1.2009611129760742, 1.278256893157959, 3.8605153560638428, -0.06362427026033401, -0.0024252936709672213, -0.019020022824406624, -0.0015528433723375201, 0.004023685585707426, 0.011979624629020691, -0.0002524178707972169, 8.221507414418738e-06, -3.557653690222651e-05, -0.000414249487221241, 0.0034661695826798677, 0.010179249569773674, -0.0002068135654553771, 1.5810404875082895e-05, -1.6139927538461052e-05, -0.002154214773327112, 0.005973838269710541, 0.017364071682095528, -0.0003675095795188099, 3.1256256534106797e-06, -4.600996908266097e-05], "std": [0.002530620666220784, 0.004536851309239864, 0.013106229715049267, 0.00017785499221645296, 5.8414763770997524e-05, 3.874432513839565e-05, 0.0003348330792505294, 0.00038068302092142403, 0.001121611101552844, 2.1467938495334238e-05, 3.5071004731435096e-06, 7.3023825279960874e-06, 0.0015532842371612787, 0.002659920370206237, 0.007869812659919262, 0.0001592789776623249, 2.1273508536978625e-05, 2.9929597076261416e-05, 0.003188710194081068, 0.0042532654479146, 0.012509829364717007, 0.00023014545149635524, 2.5595161787350662e-05, 6.360151746775955e-05, 0.0011835269397124648, 0.002112472662702203, 0.006163682788610458, 8.728187094675377e-05, 1.8814906070474535e-05, 1.5416710084537044e-05, 1.7203933000564575, 1.9916585683822632, 3.586277961730957, 0.07044166326522827, 0.007640575524419546, 0.029003504663705826, 1.4266571998596191, 1.9170422554016113, 4.141908168792725, 0.0679083839058876, 0.004478513263165951, 0.02421780489385128, 0.0025190701708197594, 0.00575240608304739, 0.016981925815343857, 0.0003620736242737621, 1.8191021808888763e-05, 5.613306711893529e-05, 0.00585091020911932, 0.00492195226252079, 0.014128819108009338, 0.0002929770271293819, 3.231784648960456e-05, 8.720059122424573e-05, 0.0033263193909078836, 0.004532107152044773, 0.01316357497125864, 0.00028067376115359366, 1.9606304704211652e-05, 5.285487350192852e-05], "count": [2433]}, "timestamp": {"min": [0.0], "max": [81.06666666666666], "mean": [40.53333333333334], "std": [23.4115514381414], "count": [2433]}, "frame_index": {"min": [0], "max": [2432], "mean": [1216.0], "std": [702.3465431442421], "count": [2433]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [2433]}, "index": {"min": [40418], "max": [42850], "mean": [41634.0], "std": [702.3465431442421], "count": [2433]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2433]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5538409948348999]], [[0.5541848540306091]], [[0.5546494722366333]]], "std": [[[0.28913432359695435]], [[0.2884732484817505]], [[0.2892910838127136]]], "count": [2433]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3047060966491699]], [[0.3071351945400238]], [[0.30459079146385193]]], "std": [[[0.18252800405025482]], [[0.18286363780498505]], [[0.18250879645347595]]], "count": [2433]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.309137761592865]], [[0.31178656220436096]], [[0.3085523247718811]]], "std": [[[0.18444406986236572]], [[0.18334001302719116]], [[0.18216075003147125]]], "count": [2433]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5565666556358337]], [[0.5565968155860901]], [[0.5566551685333252]]], "std": [[[0.2959560751914978]], [[0.29567742347717285]], [[0.29668983817100525]]], "count": [2433]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.658823549747467]], [[0.658823549747467]], [[0.658823549747467]]], "mean": [[[0.002752928761765361]], [[0.002752928761765361]], [[0.002752928761765361]]], "std": [[[0.032117221504449844]], [[0.032117221504449844]], [[0.032117221504449844]]], "count": [2433]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4907197952270508]], [[0.4907197952270508]], [[0.4907197952270508]]], "std": [[[0.22160081565380096]], [[0.22160081565380096]], [[0.22160081565380096]]], "count": [2433]}}}
+{"episode_index": 18, "stats": {"observation.state": {"min": [1.0372276306152344, -0.82539963722229, -0.22482825815677643, 1.0139830112457275, -0.03780243918299675, -0.7689241766929626, 0.3485002815723419, 0.006919568404555321, -0.00020163547014817595, -0.2804067134857178, 0.0042826104909181595, 0.003486416768282652, 0.0035911542363464832, -0.13973194360733032, 0.003531800815835595, 0.0008487114100717008, -0.000265185022726655, -0.12570758163928986, 0.0030612959526479244, 0.0008300876361317933, -0.0030212916899472475, -0.026937460526823997, 0.002736870665103197, 0.0008340784697793424, 0.0057627554051578045, -0.0030249692499637604, 0.006671564653515816, 0.002275229897350073, 0.0008642312022857368, 0.9405447244644165, -1.0455189943313599, -0.2424677163362503, 1.1100959777832031, -1.8236747980117798, -0.8079056143760681, -0.5131102204322815, 0.0055585284717381, -0.15802104771137238, -0.30756306648254395, -0.11020368337631226, 0.003273678943514824, 0.005315467715263367, -0.10698863863945007, 0.0035736393183469772, 0.000828313990496099, 0.001843045698478818, -0.09668445587158203, 0.006421487778425217, 0.0008691088296473026, -0.001851386041380465, -0.14484651386737823, 0.0035452742595225573, 0.0008770904969424009, 0.006758179981261492, -0.0016875264700502157, -0.16621707379817963, 0.003244959283620119, 0.0008762036450207233, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.00047936898772604764, -9.58738019107841e-05, -0.007574030198156834, -0.7446517944335938], "max": [1.2470831871032715, -0.5892608761787415, -0.00047445547534152865, 1.5692790746688843, 0.12038058042526245, 0.14251796901226044, 0.6981595754623413, 1.4599947929382324, 0.2907739579677582, 0.0005852578324265778, 0.25557246804237366, 0.6667845249176025, 0.9064493775367737, 0.13029152154922485, 0.05702363699674606, 0.054987985640764236, 0.7687371373176575, 0.23617157340049744, 0.07266093045473099, 0.05485451593995094, 0.2952834665775299, 0.24490132927894592, 0.026087673380970955, 0.026988932862877846, 0.23535463213920593, 0.5037983059883118, 0.24866421520709991, 0.14876288175582886, 0.05930781364440918, 1.3947515487670898, -0.34012120962142944, -0.00036012596683576703, 1.7432138919830322, 0.17567496001720428, -0.15713559091091156, 0.6624807715415955, 1.3483020067214966, 0.24069176614284515, 0.4090009331703186, 0.2887688875198364, 0.7886513471603394, 1.1421477794647217, 0.08816689252853394, 0.8520390391349792, 0.43045321106910706, 1.345456838607788, 0.16724026203155518, 1.370663046836853, 0.8512677550315857, 1.4537750482559204, 0.1804688274860382, 1.4967864751815796, 1.1848046779632568, 0.14074760675430298, 1.4683982133865356, 0.27550795674324036, 1.5329192876815796, 1.3082278966903687, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 0.0001917476038215682, 0.11715777963399887, -0.5998823642730713], "mean": [1.1459683179855347, -0.6460652947425842, -0.22175034880638123, 1.1313142776489258, 0.0357978455722332, 0.010768716223537922, 0.4496060311794281, 1.416988730430603, 0.27454832196235657, -0.20836448669433594, 0.17256568372249603, 0.6489118933677673, 0.8067845106124878, 0.11723710596561432, 0.05518249422311783, 0.05169816315174103, 0.718605637550354, 0.2134004682302475, 0.06258681416511536, 0.05185343325138092, 0.2604449689388275, 0.22113800048828125, 0.02277098037302494, 0.023800313472747803, 0.08617538958787918, 0.4659546911716461, 0.21885521709918976, 0.13197922706604004, 0.055832330137491226, 1.2487107515335083, -0.6160748600959778, -0.2237064093351364, 1.3420661687850952, -1.3670597076416016, -0.3745458126068115, -0.09047143906354904, 1.2111080884933472, -0.011882159858942032, 0.12004270404577255, 0.03355550020933151, 0.15489447116851807, 0.8498049378395081, 0.0438169501721859, 0.2510001063346863, 0.20697049796581268, 1.1826831102371216, -0.0664578452706337, 1.1887688636779785, 0.5714731216430664, 1.3064297437667847, -0.11396186798810959, 1.3021526336669922, 0.7519832849502563, 0.030603257939219475, 1.2792205810546875, -0.12852796912193298, 1.1345678567886353, 1.2330727577209473, 0.5626896619796753, -1.10685133934021, 0.5441011786460876, -0.00024098817084450275, -7.193235028078119e-15, 0.08573582768440247, -0.7021390795707703], "std": [0.05020546913146973, 0.047582823783159256, 0.021861184388399124, 0.09926049411296844, 0.026636892929673195, 0.1379813253879547, 0.07962840795516968, 0.15330080687999725, 0.035457853227853775, 0.03550180792808533, 0.021319007501006126, 0.0814116820693016, 0.14129596948623657, 0.0315873883664608, 0.008427545428276062, 0.008201898075640202, 0.14956985414028168, 0.05044194683432579, 0.011360445991158485, 0.010124473832547665, 0.06007982790470123, 0.046251799911260605, 0.004565733950585127, 0.005317057482898235, 0.020348872989416122, 0.10294561833143234, 0.03982739523053169, 0.02829892747104168, 0.011624465696513653, 0.11611858010292053, 0.1621563583612442, 0.024901654571294785, 0.16119186580181122, 0.3523201644420624, 0.12054773420095444, 0.20857594907283783, 0.1667693704366684, 0.08162369579076767, 0.18405504524707794, 0.06776323914527893, 0.17391224205493927, 0.2097487449645996, 0.024870701134204865, 0.18859940767288208, 0.11265456676483154, 0.2551744282245636, 0.027378689497709274, 0.2925257980823517, 0.16818863153457642, 0.2938719689846039, 0.045458726584911346, 0.31997957825660706, 0.27665290236473083, 0.014119897969067097, 0.28940248489379883, 0.062499064952135086, 0.29755228757858276, 0.2960111200809479, 2.7562697141547687e-05, 5.267461165203713e-05, 6.256172491703182e-05, 0.00029646046459674835, 7.975648259161972e-06, 0.02078644558787346, 0.025330789387226105], "count": [2023]}, "observation.state.joint_torque": {"min": [-33.47999954223633, -14.179499626159668, -17.959999084472656, -10.866000175476074, -0.5335999727249146, -2.086400032043457, 1.3223999738693237, -0.7310047745704651, -0.3222024738788605, -0.42499980330467224, -0.2783624529838562, -0.2125127911567688, -0.6495572924613953, -0.6620302796363831, -0.09131408482789993, -0.03781566023826599, -0.42983996868133545, -0.4691780209541321, -0.12285894900560379, -0.03424813970923424, -0.1918928623199463, -0.513313353061676, -0.08633331209421158, -0.03139413148164749, -0.10907067358493805, -0.23602820932865143, -0.3981776535511017, -0.12783971428871155, -0.027113113552331924, 2.4749999046325684, -7.696499824523926, -3.8919999599456787, -9.86400032043457, -2.574399948120117, -4.513599872589111, -3.631200075149536, -1.3257420063018799, -0.7908605337142944, -0.7617687582969666, -0.9630844593048096, -0.16436536610126495, -0.7253549695014954, -1.1168164014816284, -0.15440380573272705, -0.08419335633516312, -1.4842911958694458, -1.0784378051757812, -0.11621791869401932, -0.03139413148164749, -0.29455551505088806, -0.33005568385124207, -0.11123716086149216, -0.05850724130868912, -0.1451343595981598, -0.3502044379711151, -0.42504265904426575, -0.12617947161197662, -0.09132837504148483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-24.191999435424805, 11.789999961853027, -10.184000015258789, 4.158999919891357, 1.9176000356674194, 1.011199951171875, 3.123199939727783, 0.3171083331108093, 0.21522614359855652, 0.44861096143722534, 0.41505831480026245, 0.09629485011100769, 0.3857046067714691, 0.2820824980735779, 0.08467306196689606, 0.02354559674859047, 0.35404232144355774, 0.34252873063087463, 0.16270509362220764, 0.013556556776165962, 0.4029749929904938, 0.3079879879951477, 0.08633331209421158, 0.015697065740823746, 0.036503490060567856, 0.17174409329891205, 0.29263660311698914, 0.12783971428871155, 0.015697065740823746, 39.494998931884766, 21.75749969482422, 20.20800018310547, 6.75600004196167, 0.2215999960899353, 3.4119999408721924, 0.21279999613761902, 2.39550518989563, 4.431876182556152, 2.255481719970703, 1.3309204578399658, 0.6856857538223267, 2.149199962615967, 0.29935285449028015, 1.0575830936431885, 0.21476440131664276, 0.44423192739486694, 0.24082551896572113, 0.12617947161197662, 0.03638865053653717, 0.4164074659347534, 0.19956855475902557, 0.10293588042259216, 0.03638865053653717, 0.10819106549024582, 0.44615086913108826, 0.38762354850769043, 0.21915379166603088, 0.051372215151786804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.314777374267578, 2.0750021934509277, -12.905436515808105, -1.5870882272720337, -0.22980345785617828, -0.23318441212177277, 1.6935874223709106, -0.0004885100643150508, -0.0029763909988105297, 0.01708008348941803, 0.0017291990807279944, 0.0008600855944678187, -0.023360611870884895, 0.005846397485584021, -0.00011982169962720945, -0.00021126479259692132, -0.0013516960898414254, 0.007732619531452656, -0.0006253657047636807, -0.00011850543523905799, 0.02030758559703827, 0.01645650342106819, 0.0006204422097653151, 0.0006785864243283868, -0.0017548564355820417, 0.003159148385748267, -0.0034389817155897617, -0.002564657013863325, -0.00012943892215844244, 27.198488235473633, 0.8599420785903931, 13.06525993347168, -2.1950325965881348, -0.6715624332427979, 1.5096014738082886, -0.9141157865524292, 0.3094375729560852, 1.1403733491897583, 0.33505797386169434, 0.1070285439491272, 0.11092281341552734, 0.9327458143234253, -0.10355956852436066, 0.34970560669898987, 0.10269192606210709, -0.1840766966342926, -0.1765529215335846, -0.001152247772552073, -0.0018879775889217854, -0.0006753734196536243, -0.005038728006184101, -0.0023110664915293455, -0.0030737463384866714, -0.0023324904032051563, -0.024208569899201393, 0.007720784284174442, -0.011277931742370129, 0.0005622002645395696, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6967270374298096, 1.0479005575180054, 0.8019471168518066, 0.6981377601623535, 0.25166061520576477, 0.3467263877391815, 0.18112003803253174, 0.04581523314118385, 0.027911024168133736, 0.05525350198149681, 0.052292466163635254, 0.011272364296019077, 0.06221746280789375, 0.062430255115032196, 0.007982034236192703, 0.004540659487247467, 0.03741716220974922, 0.04679198935627937, 0.014252680353820324, 0.003843605751171708, 0.0520731583237648, 0.05579943582415581, 0.008447390981018543, 0.004904536996036768, 0.008959428407251835, 0.0296342633664608, 0.04461780935525894, 0.014587809331715107, 0.003978990484029055, 4.283238887786865, 2.064229965209961, 1.6901799440383911, 1.7113064527511597, 0.30912020802497864, 0.7254999279975891, 0.5015934109687805, 0.6321817636489868, 1.417490839958191, 0.5037204027175903, 0.29282763600349426, 0.1469116508960724, 0.98811274766922, 0.2685604393482208, 0.3826071321964264, 0.1018621101975441, 0.3398604691028595, 0.26972696185112, 0.026818810030817986, 0.008573189377784729, 0.06734774261713028, 0.052941665053367615, 0.024948423728346825, 0.009580070152878761, 0.016796117648482323, 0.11826471239328384, 0.08551192283630371, 0.03785785660147667, 0.012529580853879452, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2023]}, "observation.state.tcp": {"min": [0.36186835169792175, 0.19245697557926178, 0.9448540806770325, -1.2637680768966675, 1.21824049949646, -1.6541409492492676, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2464536428451538, -0.2867371737957001, 0.9471389055252075, -0.6249150037765503, 1.2180651426315308, 0.3284291923046112, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41856086254119873, 0.243881493806839, 1.0634487867355347, -0.9296888709068298, 1.806003451347351, -1.2294684648513794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44946718215942383, -0.039452698081731796, 1.1331967115402222, 1.2103430032730103, 1.9587520360946655, 1.5096943378448486, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40879562497138977, 0.21493035554885864, 0.9938535094261169, -1.1382402181625366, 1.6368178129196167, -1.574960708618164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3921174705028534, -0.1406737118959427, 1.0530095100402832, -0.18817467987537384, 1.6836590766906738, 0.6567408442497253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007765583693981171, 0.008156905882060528, 0.031376976519823074, 0.08768434822559357, 0.12396367639303207, 0.04631175100803375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05359799414873123, 0.057096488773822784, 0.04811409115791321, 0.3291458785533905, 0.12558934092521667, 0.1970168948173523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2023]}, "action": {"min": [1.0372495651245117, -0.8254854679107666, -0.22482407093048096, 1.013983130455017, -0.036712318658828735, -0.7668605446815491, 0.3485017716884613, 0.0, 0.0, -0.28428617119789124, 0.0, 0.0, 0.0, -0.14131000638008118, 0.0, 0.0, 0.0, -0.13780784606933594, 0.0, 0.0, 0.0, -0.05383380129933357, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9405466318130493, -1.0455979108810425, -0.24246469140052795, 1.1100884675979614, -1.8236645460128784, -0.815264880657196, -0.5131103992462158, 0.0, -0.16468898952007294, -0.3047066330909729, -0.1102757453918457, 0.0, 0.0, -0.10885047912597656, 0.0, 0.0, 0.0, -0.12644493579864502, 0.0, 0.0, 0.0, -0.1478114128112793, 0.0, 0.0, 0.0, 0.0, -0.1658822000026703, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440710186958313, -0.0005670692771673203, -3.9980797737371176e-05, -0.007593379355967045, -0.7448790073394775], "max": [1.2477710247039795, -0.5892637968063354, -0.001092757098376751, 1.5676627159118652, 0.12089616060256958, 0.14250260591506958, 0.6992695927619934, 1.4673821926116943, 0.28822556138038635, 0.0, 0.2548620104789734, 0.6754807233810425, 0.9250506162643433, 0.1302257627248764, 0.06531469523906708, 0.05944853648543358, 0.7756127715110779, 0.23562130331993103, 0.09311920404434204, 0.058227647095918655, 0.30158281326293945, 0.24369923770427704, 0.02974117361009121, 0.02949860319495201, 0.257085382938385, 0.5123482942581177, 0.2738652527332306, 0.18162605166435242, 0.07915966212749481, 1.3947564363479614, -0.34008631110191345, 0.0, 1.7433769702911377, 0.17564556002616882, -0.15700732171535492, 0.6624779105186462, 1.3511261940002441, 0.27224963903427124, 0.41218817234039307, 0.2903399169445038, 0.790905237197876, 1.2210595607757568, 0.11248905956745148, 0.859357476234436, 0.4869875907897949, 1.504608392715454, 0.2127508968114853, 1.3761789798736572, 0.8619450926780701, 1.4696130752563477, 0.22363543510437012, 1.5025115013122559, 1.1860116720199585, 0.17748013138771057, 1.488423466682434, 0.28213322162628174, 1.535158395767212, 1.5255138874053955, 0.5626999735832214, -1.106863021850586, 0.5442706942558289, 0.0004227952449582517, 7.300176366697997e-05, 0.11712325364351273, -0.5948187708854675], "mean": [1.1460410356521606, -0.6461153626441956, -0.22176337242126465, 1.1314617395401, 0.03576871380209923, 0.010635795071721077, 0.4497656524181366, 1.4248842000961304, 0.2745192050933838, -0.20918293297290802, 0.17064517736434937, 0.6547468900680542, 0.8069286346435547, 0.11747012287378311, 0.05581807717680931, 0.05434773117303848, 0.7238786816596985, 0.2163609117269516, 0.06737763434648514, 0.055695317685604095, 0.2669631540775299, 0.22235003113746643, 0.027102775871753693, 0.026906916871666908, 0.08808185905218124, 0.4686475098133087, 0.22150878608226776, 0.13339969515800476, 0.05829906463623047, 1.249760627746582, -0.6168646812438965, -0.22370773553848267, 1.3427528142929077, -1.367204189300537, -0.37430423498153687, -0.0904526337981224, 1.211781620979309, -0.009028748609125614, 0.11976319551467896, 0.033286843448877335, 0.15493710339069366, 0.8832105994224548, 0.03270668536424637, 0.25317126512527466, 0.25512927770614624, 1.184390664100647, -0.06637077033519745, 1.1904786825180054, 0.5728038549423218, 1.3085728883743286, -0.11439963430166245, 1.3039690256118774, 0.7539601922035217, 0.022668328136205673, 1.281017780303955, -0.12940680980682373, 1.1358088254928589, 1.362197995185852, 0.5626893043518066, -1.1068484783172607, 0.5441471934318542, -0.00026810323470272124, 3.848096241654275e-07, 0.08578526228666306, -0.7021924257278442], "std": [0.05024394020438194, 0.047663602977991104, 0.021857542917132378, 0.0995379388332367, 0.026594510301947594, 0.13833865523338318, 0.07980286329984665, 0.17053435742855072, 0.038303475826978683, 0.03865625336766243, 0.025336571037769318, 0.08842290937900543, 0.13928353786468506, 0.02950618416070938, 0.008730021305382252, 0.008469801396131516, 0.14627470076084137, 0.04787866771221161, 0.012734251096844673, 0.010535628534853458, 0.060257140547037125, 0.04478264972567558, 0.005860951263457537, 0.005821586586534977, 0.024037688970565796, 0.10048241913318634, 0.039567168802022934, 0.02837066911160946, 0.012103469111025333, 0.11603837460279465, 0.1628941297531128, 0.0249132439494133, 0.16183805465698242, 0.3529174029827118, 0.12010157108306885, 0.2091127336025238, 0.17606809735298157, 0.08334892243146896, 0.1836053431034088, 0.06813355535268784, 0.17444482445716858, 0.23196063935756683, 0.02382645197212696, 0.1895342916250229, 0.1367408186197281, 0.24995476007461548, 0.029654348269104958, 0.28849130868911743, 0.1672798991203308, 0.28722208738327026, 0.044831037521362305, 0.3154408931732178, 0.27589181065559387, 0.016584184020757675, 0.28244495391845703, 0.06078934296965599, 0.29371505975723267, 0.32447323203086853, 6.0208849390619434e-06, 1.5507597709074616e-05, 3.053930777241476e-05, 0.0003237568016629666, 1.0262801879434846e-05, 0.020845089107751846, 0.025369148701429367], "count": [2023]}, "observation.state.tcp_pose": {"min": [0.36186835169792175, 0.19245697557926178, 0.9448540806770325, -1.2637680768966675, 1.21824049949646, -1.6541409492492676, 0.2464536428451538, -0.2867371737957001, 0.9471389055252075, -0.6249150037765503, 1.2180651426315308, 0.3284291923046112], "max": [0.41856086254119873, 0.243881493806839, 1.0634487867355347, -0.9296888709068298, 1.806003451347351, -1.2294684648513794, 0.44946718215942383, -0.039452698081731796, 1.1331967115402222, 1.2103430032730103, 1.9587520360946655, 1.5096943378448486], "mean": [0.40879562497138977, 0.21493035554885864, 0.9938535094261169, -1.1382402181625366, 1.6368178129196167, -1.574960708618164, 0.3921174705028534, -0.1406737118959427, 1.0530095100402832, -0.18817467987537384, 1.6836590766906738, 0.6567408442497253], "std": [0.007765583693981171, 0.008156905882060528, 0.031376976519823074, 0.08768434822559357, 0.12396367639303207, 0.04631175100803375, 0.05359799414873123, 0.057096488773822784, 0.04811409115791321, 0.3291458785533905, 0.12558934092521667, 0.1970168948173523], "count": [2023]}, "action.tcp_pose": {"min": [0.3619798719882965, 0.19249464571475983, 0.944847047328949, -1.263814091682434, 1.2190909385681152, -1.6542515754699707, 0.24662527441978455, -0.2823812961578369, 0.9470041990280151, -0.625071108341217, 1.217836856842041, 0.3283655345439911], "max": [0.41858047246932983, 0.243879497051239, 1.063455581665039, -0.9298678636550903, 1.8060393333435059, -1.2303515672683716, 0.449354887008667, -0.03942030668258667, 1.134653925895691, 1.2088515758514404, 1.958724856376648, 1.5090354681015015], "mean": [0.4087984561920166, 0.21491996943950653, 0.9938755035400391, -1.138127326965332, 1.6366363763809204, -1.57505464553833, 0.39220723509788513, -0.14085347950458527, 1.0535603761672974, -0.18824754655361176, 1.6822353601455688, 0.657145082950592], "std": [0.007803518790751696, 0.008193600922822952, 0.03142113238573074, 0.08768947422504425, 0.12414240837097168, 0.04633951187133789, 0.053600989282131195, 0.057260509580373764, 0.048268452286720276, 0.32978248596191406, 0.1261124461889267, 0.19854269921779633], "count": [2023]}, "subtask_index": {"min": [50], "max": [999], "mean": [941.2051408798814], "std": [173.06438740568268], "count": [2023]}, "observation.tactile": {"min": [-0.026699300855398178, -3.969931640313007e-05, -8.599803550168872e-05, -0.001973642036318779, -8.711558621143922e-05, -0.0005437516956590116, -0.0034931630361825228, -4.49501458206214e-05, -0.0001016109308693558, -0.00038032044540159404, -1.8628428733791225e-05, -7.520226790802553e-05, -0.009853438474237919, -4.9563273933017626e-05, -0.00010921974899247289, -0.0012806279119104147, -5.8499463193584234e-05, -0.00022227701265364885, -0.011887772008776665, -3.499051308608614e-05, -7.523717795265839e-05, -0.0011042474070563912, -5.812262315885164e-06, -0.0002601162705104798, -0.004434088245034218, -4.697056283475831e-05, -0.00010611469770083204, -0.0013928068801760674, -5.297895768308081e-06, -0.00011628960055531934, -2.216465711593628, -3.549975008354522e-05, -8.31589859444648e-05, -0.18920660018920898, -0.006594482343643904, -0.055539462715387344, -6.398148059844971, -0.4739280939102173, -0.00010071360156871378, -0.21086904406547546, -0.028743451461195946, -0.11764474958181381, -0.013865242712199688, -4.9343430873705074e-05, -0.00010921796638285741, -0.0015717318747192621, -2.624030821607448e-05, -0.0003150030388496816, -0.009015599265694618, -5.5429187341360375e-05, -0.00012378394603729248, -0.0009423533920198679, -3.788454705500044e-05, -0.00018757671932689846, -0.1383141130208969, -3.616371759562753e-05, -8.105058077489957e-05, -0.0014384998939931393, -0.000299654173431918, -0.0021432230714708567], "max": [0.0023530919570475817, 0.03303249925374985, 0.09415223449468613, 1.6197989225474885e-06, 0.00023453736503142864, 6.5864155658346135e-06, 0.00032703307806514204, 0.006414426025003195, 0.019131697714328766, 1.733323870212189e-06, 3.5099808883387595e-05, 6.405506155715557e-06, 0.004184718243777752, 0.022794123739004135, 0.0646783784031868, 2.059915914287558e-06, 0.0001524468243587762, 2.3242293536895886e-05, 0.015193715691566467, 0.01826775260269642, 0.05508437752723694, 1.3969513474876294e-06, 0.000328927009832114, 0.00019469235849101096, 0.020242739468812943, 0.02523164451122284, 0.07705297321081161, 1.9868875824613497e-06, 0.00040375388925895095, 0.0002748614060692489, 4.339293479919434, 6.521206855773926, 10.079350471496582, 1.5594287106068805e-06, 0.027599666267633438, 0.06838362663984299, 0.16580523550510406, 11.540213584899902, 11.840758323669434, 1.8992922150573577e-06, 0.0072511471807956696, 0.00542783597484231, 0.03505967929959297, 0.02596616931259632, 0.07527050375938416, 2.013767925745924e-06, 0.00028867064975202084, 0.00045946615864522755, 0.020683877170085907, 0.01641770452260971, 0.05667174980044365, 2.2486551642941777e-06, 0.00028234149795025587, 0.00026336158043704927, 0.0003771416377276182, 0.030002232640981674, 0.06506244838237762, 1.5075993360369466e-06, 0.00010483062214916572, 6.254737400013255e-06], "mean": [-0.0027729906141757965, 0.005174017045646906, 0.015245302580296993, -0.0003040806041099131, 5.9939729908364825e-06, -5.601670272881165e-05, 0.0002482654235791415, 2.825486626534257e-05, 0.00010998371726600453, -2.2334961613523774e-06, -1.1918721156689571e-06, 4.714346232503885e-06, 7.861036283429712e-05, 0.0006552387494593859, 0.0019559727516025305, -3.3238542528124526e-05, -1.8486491626390489e-06, 2.50743414653698e-06, 0.00029452162561938167, 0.0006394792580977082, 0.0018972846446558833, -3.5164004657417536e-05, 8.34767797641689e-06, 3.134645112368162e-06, 0.0006851512589491904, 0.001598375616595149, 0.004687860608100891, -7.684660522500053e-05, 2.0543673599604517e-05, 5.820404567202786e-06, 0.9084340929985046, 2.196514844894409, 3.698359251022339, -0.06809905171394348, 0.005045314785093069, 0.014084038324654102, -1.811509609222412, 0.9293667674064636, 4.095306873321533, -0.07088301330804825, -0.002262247260659933, -0.03138948604464531, -0.0008645002963021398, 0.006262666545808315, 0.018601875752210617, -0.0003861800651066005, 5.104792944621295e-05, -3.855939576169476e-05, -7.037686737021431e-05, 0.0018865758320316672, 0.005604354199022055, -9.555381257086992e-05, 1.2426248758856673e-05, -5.917235739616444e-06, -0.0016560207586735487, 0.004366380162537098, 0.012692625634372234, -0.0002710733388084918, 3.793096311710542e-06, -3.5406668757786974e-05], "std": [0.0036949391942471266, 0.0065224869176745415, 0.0189504437148571, 0.00040858759894035757, 3.099234163528308e-05, 7.947008998598903e-05, 0.0003078750451095402, 0.0003939369635190815, 0.0011565774912014604, 2.2030037143849768e-05, 3.010805357916979e-06, 6.618944553338224e-06, 0.0007044518715701997, 0.0016528378473594785, 0.0048274146392941475, 9.05457854969427e-05, 8.519716175214853e-06, 1.396751122229034e-05, 0.0013172653270885348, 0.0020555804949253798, 0.006029043346643448, 0.00011540342529769987, 3.224223473807797e-05, 2.0390369172673672e-05, 0.0018010962521657348, 0.0032823861110955477, 0.0097205163910985, 0.00016457965830340981, 4.704439561464824e-05, 2.2053633074392565e-05, 1.297243356704712, 2.148559093475342, 3.517808675765991, 0.06612426787614822, 0.007475739344954491, 0.02195693366229534, 1.811251163482666, 1.335724115371704, 3.966487407684326, 0.06804641336202621, 0.0049017490819096565, 0.03288312256336212, 0.002813595114275813, 0.004852708429098129, 0.014342444017529488, 0.0003012482193298638, 4.610649557434954e-05, 5.188835348235443e-05, 0.0010303648887202144, 0.002498338930308819, 0.007373125292360783, 0.00013687802129425108, 2.6972187697538175e-05, 1.9341419829288498e-05, 0.005708110984414816, 0.005070748273283243, 0.014604722149670124, 0.00031236509676091373, 1.7219295841641724e-05, 9.155012230621651e-05], "count": [2023]}, "timestamp": {"min": [0.0], "max": [67.4], "mean": [33.7], "std": [19.46632419790079], "count": [2023]}, "frame_index": {"min": [0], "max": [2022], "mean": [1011.0], "std": [583.9897259370236], "count": [2023]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2023]}, "index": {"min": [42851], "max": [44873], "mean": [43862.0], "std": [583.9897259370236], "count": [2023]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2023]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5648400783538818]], [[0.5654613971710205]], [[0.5659319162368774]]], "std": [[[0.29561084508895874]], [[0.294748991727829]], [[0.2953566312789917]]], "count": [2023]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.306664377450943]], [[0.30912962555885315]], [[0.30661800503730774]]], "std": [[[0.18316242098808289]], [[0.1833968460559845]], [[0.18313735723495483]]], "count": [2023]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30921483039855957]], [[0.3120487332344055]], [[0.308901309967041]]], "std": [[[0.1846131682395935]], [[0.18328499794006348]], [[0.1823459267616272]]], "count": [2023]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5654237866401672]], [[0.5656770467758179]], [[0.5657305121421814]]], "std": [[[0.30195146799087524]], [[0.3014869689941406]], [[0.30232757329940796]]], "count": [2023]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6392157077789307]], [[0.6392157077789307]], [[0.6392157077789307]]], "mean": [[[0.003178755985572934]], [[0.003178755985572934]], [[0.003178755985572934]]], "std": [[[0.034398484975099564]], [[0.034398484975099564]], [[0.034398484975099564]]], "count": [2023]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49046993255615234]], [[0.49046993255615234]], [[0.49046993255615234]]], "std": [[[0.22150525450706482]], [[0.22150525450706482]], [[0.22150525450706482]]], "count": [2023]}}}
+{"episode_index": 19, "stats": {"observation.state": {"min": [1.009164810180664, -0.8273568153381348, -0.2250198870897293, 0.9929155111312866, -0.05265796557068825, -0.7684648036956787, 0.35209712386131287, 0.006921916734427214, -0.000241022979025729, -0.2886059880256653, 0.00015625824744347483, 0.0035516563802957535, 0.003669900121167302, -0.050028156489133835, 0.0035240002907812595, 0.0008411731687374413, 0.008939494378864765, -0.03435429185628891, 0.006867173593491316, 0.000854919315315783, -0.0030107395723462105, 0.008747167885303497, 0.0027049602940678596, 0.0008695522556081414, 0.005825906526297331, -0.0028262673877179623, 0.007767628878355026, 0.002409609267488122, 0.0008345218957401812, 0.9700601696968079, -1.0624775886535645, -0.2426590919494629, 1.1388121843338013, -1.701812744140625, -0.7694035768508911, -0.4385341703891754, 0.005559793207794428, -0.18065115809440613, -0.3021731972694397, -0.1517791599035263, 0.0032538236118853092, 0.0053556994535028934, -0.060520242899656296, 0.003553783753886819, 0.0008163414895534515, 0.0035528854932636023, -0.08784528821706772, 0.003358774119988084, 0.0008739865152165294, -0.002165143145248294, -0.13827039301395416, 0.0038934547919780016, 0.0008966010645963252, 0.013824621215462685, -0.002180117415264249, -0.15915030241012573, 0.003260914934799075, 0.0008819681243039668, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0009587379754520953, -0.0001917476038215682, -9.58738019107841e-05, -0.7313253283500671], "max": [1.2253669500350952, -0.5629999041557312, -0.0006132327835075557, 1.5695619583129883, 0.15954549610614777, 0.09749621897935867, 0.6981449723243713, 1.4360666275024414, 0.2880104184150696, -0.003524237545207143, 0.229099303483963, 0.5808062553405762, 0.9122768640518188, 0.173064723610878, 0.05702647194266319, 0.055117905139923096, 0.8939357399940491, 0.25705984234809875, 0.11176779121160507, 0.054814163595438004, 0.8063090443611145, 0.27291056513786316, 0.12225398421287537, 0.05942931026220322, 0.11696445941925049, 0.7975242733955383, 0.2816295027732849, 0.31535816192626953, 0.10561578720808029, 1.3813035488128662, -0.3470726013183594, -0.001433073659427464, 1.761696219444275, 0.11160657554864883, -0.10815966874361038, 0.5236573219299316, 1.3688089847564697, 0.2578248083591461, 0.4972229599952698, 0.29290851950645447, 0.752836287021637, 1.0722013711929321, 0.1079963892698288, 0.771552562713623, 0.3741722106933594, 1.307892084121704, 0.17289303243160248, 1.3795945644378662, 0.8966861963272095, 1.4218199253082275, 0.19581420719623566, 1.4833296537399292, 0.8771206140518188, 0.24199078977108002, 1.3809477090835571, 0.2798711061477661, 1.4941258430480957, 1.3081728219985962, 0.5627791881561279, -1.106767177581787, 0.5443714261054993, 0.00047936898772604764, 0.0001917476038215682, 0.09117598086595535, -0.48464205861091614], "mean": [1.1164716482162476, -0.6307751536369324, -0.22187846899032593, 1.1445506811141968, 0.0695457011461258, -0.13423417508602142, 0.48312970995903015, 1.3539212942123413, 0.26301130652427673, -0.23274289071559906, 0.15416806936264038, 0.5600995421409607, 0.7443169951438904, 0.1596054583787918, 0.054694708436727524, 0.050217628479003906, 0.7387871146202087, 0.224999338388443, 0.06237594038248062, 0.05133403092622757, 0.5983973741531372, 0.23415574431419373, 0.09886601567268372, 0.05167713016271591, 0.04479297623038292, 0.5589494705200195, 0.21868810057640076, 0.1532564014196396, 0.06219564750790596, 1.219984531402588, -0.6569840312004089, -0.22025346755981445, 1.3908308744430542, -1.3481905460357666, -0.41590556502342224, -0.07801410555839539, 1.2443276643753052, -0.02025020122528076, 0.16069452464580536, 0.022716065868735313, 0.12763360142707825, 0.8392115831375122, 0.05524350702762604, 0.2614590525627136, 0.1724272221326828, 1.1672310829162598, -0.05648331344127655, 1.1766973733901978, 0.6558002233505249, 1.299868106842041, -0.10846690088510513, 1.2691618204116821, 0.5983928442001343, 0.036097124218940735, 1.2313777208328247, -0.12267529219388962, 1.0623918771743774, 1.227779746055603, 0.5626846551895142, -1.1068447828292847, 0.5440868139266968, -0.00047357092262245715, 9.986854365706677e-08, 0.06320568919181824, -0.6783384680747986], "std": [0.06313207745552063, 0.0537581741809845, 0.021996265277266502, 0.122041255235672, 0.06101834028959274, 0.15411484241485596, 0.09167938679456711, 0.15728257596492767, 0.03873586654663086, 0.03743647411465645, 0.020332789048552513, 0.06871374696493149, 0.1360587626695633, 0.029645847156643867, 0.008825951255857944, 0.008208856917917728, 0.16693326830863953, 0.04066164046525955, 0.010836567729711533, 0.009317432530224323, 0.19958950579166412, 0.03779909759759903, 0.03248481824994087, 0.014702733606100082, 0.01813395693898201, 0.19297608733177185, 0.030365992337465286, 0.0601591132581234, 0.019895734265446663, 0.11062661558389664, 0.1644178181886673, 0.023887643590569496, 0.16354359686374664, 0.35380905866622925, 0.11900411546230316, 0.18515802919864655, 0.17913538217544556, 0.08392469584941864, 0.1843002289533615, 0.07416310161352158, 0.10953851789236069, 0.20041780173778534, 0.022882049903273582, 0.14037035405635834, 0.08443335443735123, 0.2603110671043396, 0.03248203173279762, 0.29990747570991516, 0.18097931146621704, 0.30420982837677, 0.0530741848051548, 0.32291921973228455, 0.179777130484581, 0.032101597636938095, 0.29219281673431396, 0.06961499154567719, 0.2974003851413727, 0.30439063906669617, 3.296399881946854e-05, 3.610996645875275e-05, 4.644447108148597e-05, 0.0002459825773257762, 1.0262395335303154e-05, 0.016495874151587486, 0.038467567414045334], "count": [1920]}, "observation.state.joint_torque": {"min": [-31.194000244140625, -12.527999877929688, -16.91200065612793, -9.284000396728516, -0.23839999735355377, -1.3680000305175781, 0.9847999811172485, -0.6953460574150085, -0.2839966416358948, -0.37156417965888977, -0.4995611906051636, -0.11123716086149216, -0.6102192997932434, -0.4260021150112152, -0.10791664570569992, -0.039242662489414215, -0.4499887228012085, -0.3665153384208679, -0.14610254764556885, -0.03496164828538895, -0.37515050172805786, -0.47493478655815125, -0.13780125975608826, -0.03139413148164749, -0.09851544350385666, -0.3665153384208679, -0.3905019164085388, -0.1411217600107193, -0.02925362065434456, 1.2404999732971191, -4.495500087738037, -2.2049999237060547, -6.936999797821045, -2.1944000720977783, -4.55679988861084, -3.232800006866455, -1.5575242042541504, -1.058301329612732, -0.7021195888519287, -1.2315053939819336, -0.38517940044403076, -0.5209890604019165, -0.8894233703613281, -0.18096791207790375, -0.06064775213599205, -1.48525071144104, -1.0151132345199585, -0.3868396580219269, -0.05565322935581207, -1.1676679849624634, -0.7953959107398987, -0.503057599067688, -0.06564227491617203, -0.14601396024227142, -1.1513571739196777, -1.1340867280960083, -0.4001217484474182, -0.09632289409637451, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.81049919128418, 8.654999732971191, -10.15999984741211, 1.309000015258789, 1.764799952507019, 0.9847999811172485, 2.4607999324798584, 0.2814495861530304, 0.2941848635673523, 0.30942970514297485, 0.3852337598800659, 0.09961536526679993, 0.7407063841819763, 0.39146140217781067, 0.08965382725000381, 0.022832093760371208, 0.6150165796279907, 0.2753662168979645, 0.20089100301265717, 0.013556556776165962, 0.471096932888031, 0.3665153384208679, 0.10957689583301544, 0.02354559674859047, 0.05761394649744034, 0.7080846428871155, 0.28783929347991943, 0.13780125975608826, 0.022118592634797096, 36.24300003051758, 10.774499893188477, 20.253999710083008, 1.6959999799728394, 0.14079999923706055, 2.951200008392334, 1.5631999969482422, 2.7419047355651855, 5.006236553192139, 2.4468555450439453, 1.4278502464294434, 0.7022882699966431, 2.151118755340576, 0.5785568952560425, 1.0575830936431885, 0.21476440131664276, 1.070762038230896, 0.2648121416568756, 0.7437946796417236, 0.20120783150196075, 1.1811004877090454, 0.3079880177974701, 0.7072691321372986, 0.20263484120368958, 0.12446370720863342, 0.8366528749465942, 0.4096912145614624, 0.6591216325759888, 0.20334836840629578, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.92548942565918, 1.9907644987106323, -12.664834022521973, -1.7644500732421875, 0.19977936148643494, -0.2861262857913971, 1.674078345298767, -0.0019454450812190771, 0.0017583903390914202, 0.02364087477326393, 0.005623160861432552, 0.0015011520590633154, -0.001975393621250987, 0.01954747550189495, -0.0006485378835350275, -0.00025678679230622947, 0.012344098649919033, -0.009770551696419716, -0.0030645555816590786, -3.084348645643331e-05, 0.016297409310936928, 0.009247321635484695, 0.0008327222312800586, 0.00017614620446693152, -0.0030174495186656713, 0.008859052322804928, 0.0018799523822963238, -0.0015772415790706873, -0.00026867850101552904, 26.133365631103516, 1.0360618829727173, 12.909687995910645, -2.5507662296295166, -0.6609637141227722, 1.4599034786224365, -0.9849227666854858, 0.26965272426605225, 1.3200737237930298, 0.4511406123638153, 0.19652993977069855, 0.14747241139411926, 0.9782898426055908, -0.0402834489941597, 0.41759422421455383, 0.10515330731868744, -0.08728437125682831, -0.14817418158054352, 0.0001694883540039882, 8.658831211505458e-05, 0.0068576885387301445, -0.0009599632467143238, 0.0014656961429864168, -0.0010828902013599873, -0.00020317794405855238, -0.007258438505232334, 0.006423912942409515, -0.010933476500213146, 3.9764581742929295e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9297310709953308, 0.9617658257484436, 0.9937756061553955, 0.6939781308174133, 0.2547876834869385, 0.32532939314842224, 0.18998819589614868, 0.04792797937989235, 0.03874894976615906, 0.06526757776737213, 0.06707286834716797, 0.011683428660035133, 0.0712987557053566, 0.06717481464147568, 0.009944151155650616, 0.004594830796122551, 0.06806867569684982, 0.04848739132285118, 0.017352458089590073, 0.004140383563935757, 0.06445565819740295, 0.06665743887424469, 0.014229021966457367, 0.005008901935070753, 0.010367069393396378, 0.04765533283352852, 0.06668318808078766, 0.015126206912100315, 0.005267512518912554, 5.038867950439453, 2.030561923980713, 2.043684482574463, 1.6398435831069946, 0.3014310598373413, 0.8523347973823547, 0.5358374714851379, 0.5876350402832031, 1.650632381439209, 0.6418431997299194, 0.36358052492141724, 0.18641328811645508, 1.01908540725708, 0.16623042523860931, 0.4431930184364319, 0.10356039553880692, 0.24763062596321106, 0.19744141399860382, 0.03697345033288002, 0.0107116112485528, 0.0770881250500679, 0.05792039632797241, 0.03403269127011299, 0.011088501662015915, 0.018655400723218918, 0.12729349732398987, 0.08911484479904175, 0.041940320283174515, 0.015026913955807686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1920]}, "observation.state.tcp": {"min": [0.3618076741695404, 0.1847156137228012, 0.9136437773704529, -1.2924400568008423, 1.218499779701233, -1.6112593412399292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2558179497718811, -0.2763119041919708, 0.950815737247467, -0.6803386211395264, 1.2186636924743652, 0.4180549681186676, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4172064960002899, 0.23372013866901398, 1.052050232887268, -1.0230532884597778, 1.83977472782135, -1.2296819686889648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4431163966655731, -0.04388586804270744, 1.1267004013061523, 1.2084938287734985, 1.9153720140457153, 1.5846525430679321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4017886519432068, 0.21115383505821228, 0.9799737930297852, -1.1960874795913696, 1.5622774362564087, -1.4705394506454468, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37823885679244995, -0.14801658689975739, 1.0444799661636353, -0.1476890593767166, 1.6802786588668823, 0.6996522545814514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.013263795524835587, 0.007689280901104212, 0.03662869706749916, 0.06775031983852386, 0.145259290933609, 0.052450697869062424, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.055289190262556076, 0.05750693380832672, 0.04638472571969032, 0.3337472379207611, 0.12230899184942245, 0.1895357370376587, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1920]}, "action": {"min": [1.0091676712036133, -0.8278316259384155, -0.2250158190727234, 0.9926589131355286, -0.05264679715037346, -0.7699999809265137, 0.35211285948753357, 0.0, 0.0, -0.29184895753860474, 0.0, 0.0, 0.0, -0.05065462365746498, 0.0, 0.0, 0.0, -0.039305366575717926, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9701470136642456, -1.0626598596572876, -0.2426561564207077, 1.138774037361145, -1.7018120288848877, -0.7660468220710754, -0.4386101961135864, 0.0, -0.18638984858989716, -0.30430108308792114, -0.1497831493616104, 0.0, 0.0, -0.05926671251654625, 0.0, 0.0, 0.0, -0.08763876557350159, 0.0, 0.0, 0.0, -0.13964255154132843, 0.0, 0.0, 0.0, 0.0, -0.15869633853435516, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.544083833694458, -0.0009698697249405086, -5.511369090527296e-05, -1.2632126390408349e-18, -0.732652485370636], "max": [1.2254928350448608, -0.5629736185073853, 0.0, 1.5700000524520874, 0.1595737487077713, 0.09757218509912491, 0.7820279598236084, 1.438766360282898, 0.2872805595397949, 0.0, 0.23483023047447205, 0.5869773030281067, 0.9204711318016052, 0.17549294233322144, 0.06063469126820564, 0.059452030807733536, 0.9026674032211304, 0.26131272315979004, 0.11842317134141922, 0.05941710248589516, 0.8183051943778992, 0.27804428339004517, 0.1268698275089264, 0.06178071349859238, 0.144614577293396, 0.8015467524528503, 0.2835756540298462, 0.32531771063804626, 0.10769844055175781, 1.3812998533248901, -0.3470641076564789, -0.003611838910728693, 1.7621015310287476, 0.11192216724157333, -0.10823021084070206, 0.5237181186676025, 1.374237298965454, 0.2654235363006592, 0.4935435950756073, 0.2940066158771515, 0.7576717734336853, 1.1969096660614014, 0.1302044540643692, 0.7810745239257812, 0.3813639283180237, 1.3814445734024048, 0.20527850091457367, 1.3830699920654297, 0.8979681134223938, 1.4514387845993042, 0.226702481508255, 1.486060619354248, 0.8775658011436462, 0.26180002093315125, 1.3888955116271973, 0.2819674015045166, 1.4971249103546143, 1.4665478467941284, 0.5626999735832214, -1.106863021850586, 0.54432213306427, 0.00042252158164046705, 1.6295143723255023e-05, 0.09147638827562332, -0.4829341471195221], "mean": [1.1165910959243774, -0.630855917930603, -0.22190876305103302, 1.144670009613037, 0.06958528608083725, -0.13443493843078613, 0.4842086732387543, 1.3611750602722168, 0.2647940218448639, -0.23091630637645721, 0.15424245595932007, 0.565264105796814, 0.7469419836997986, 0.16268214583396912, 0.05285562202334404, 0.052016761153936386, 0.7448316216468811, 0.2232963591814041, 0.0663360133767128, 0.05589722469449043, 0.6019375920295715, 0.23352017998695374, 0.10161658376455307, 0.05425495281815529, 0.05472368746995926, 0.5632687211036682, 0.22067545354366302, 0.15426966547966003, 0.0657772496342659, 1.2209446430206299, -0.6578271985054016, -0.22028513252735138, 1.3914700746536255, -1.3481699228286743, -0.4160540699958801, -0.07805968821048737, 1.2464585304260254, -0.016900191083550453, 0.16157327592372894, 0.02378798834979534, 0.1281396746635437, 0.872999370098114, 0.042813822627067566, 0.2721627652645111, 0.20322421193122864, 1.1689594984054565, -0.05678354948759079, 1.1762356758117676, 0.6558272838592529, 1.3022911548614502, -0.10831202566623688, 1.2697101831436157, 0.5985695123672485, 0.03395162522792816, 1.2327033281326294, -0.12321452796459198, 1.0619932413101196, 1.3261034488677979, 0.5626863241195679, -1.1068439483642578, 0.5441463589668274, -0.0005112257786095142, -4.7496817501269106e-07, 0.06326504051685333, -0.6783801913261414], "std": [0.06317920237779617, 0.05388538911938667, 0.021962054073810577, 0.12211830914020538, 0.0610184371471405, 0.15442565083503723, 0.09419956058263779, 0.1750807911157608, 0.041588932275772095, 0.041151925921440125, 0.023826880380511284, 0.07639458030462265, 0.13788962364196777, 0.029439561069011688, 0.008629979565739632, 0.008475922048091888, 0.1683957576751709, 0.039211444556713104, 0.01186755858361721, 0.010151078924536705, 0.19997182488441467, 0.03821943327784538, 0.03291505202651024, 0.015209316276013851, 0.018525036051869392, 0.19344258308410645, 0.03314795345067978, 0.059928156435489655, 0.020626801997423172, 0.11053121089935303, 0.16499529778957367, 0.023822473362088203, 0.16381852328777313, 0.3550111651420593, 0.11937493830919266, 0.18541570007801056, 0.18743832409381866, 0.08334120362997055, 0.18565121293067932, 0.07419716566801071, 0.11041270196437836, 0.22149787843227386, 0.02038603462278843, 0.14123070240020752, 0.09226290136575699, 0.25562408566474915, 0.03375427424907684, 0.29780393838882446, 0.1803351640701294, 0.2982027530670166, 0.05259731039404869, 0.32008224725723267, 0.1790170520544052, 0.035860009491443634, 0.286379337310791, 0.06853227317333221, 0.2941816747188568, 0.3296215534210205, 3.3940557386813452e-06, 2.0149906049482524e-05, 2.7682646759785712e-05, 0.0002559545391704887, 6.532897259603487e-06, 0.01652805507183075, 0.0385843850672245], "count": [1920]}, "observation.state.tcp_pose": {"min": [0.3618076741695404, 0.1847156137228012, 0.9136437773704529, -1.2924400568008423, 1.218499779701233, -1.6112593412399292, 0.2558179497718811, -0.2763119041919708, 0.950815737247467, -0.6803386211395264, 1.2186636924743652, 0.4180549681186676], "max": [0.4172064960002899, 0.23372013866901398, 1.052050232887268, -1.0230532884597778, 1.83977472782135, -1.2296819686889648, 0.4431163966655731, -0.04388586804270744, 1.1267004013061523, 1.2084938287734985, 1.9153720140457153, 1.5846525430679321], "mean": [0.4017886519432068, 0.21115383505821228, 0.9799737930297852, -1.1960874795913696, 1.5622774362564087, -1.4705394506454468, 0.37823885679244995, -0.14801658689975739, 1.0444799661636353, -0.1476890593767166, 1.6802786588668823, 0.6996522545814514], "std": [0.013263795524835587, 0.007689280901104212, 0.03662869706749916, 0.06775031983852386, 0.145259290933609, 0.052450697869062424, 0.055289190262556076, 0.05750693380832672, 0.04638472571969032, 0.3337472379207611, 0.12230899184942245, 0.1895357370376587], "count": [1920]}, "action.tcp_pose": {"min": [0.36176472902297974, 0.18312707543373108, 0.9136157631874084, -1.2924988269805908, 1.2178406715393066, -1.6126545667648315, 0.2557511627674103, -0.2769286036491394, 0.9507813453674316, -0.6803386211395264, 1.222389578819275, 0.4178358018398285], "max": [0.41721805930137634, 0.2342868596315384, 1.0520858764648438, -0.9813323616981506, 1.839340329170227, -1.2289543151855469, 0.44312140345573425, -0.043853968381881714, 1.1265314817428589, 1.20662522315979, 1.915338158607483, 1.5839977264404297], "mean": [0.40180832147598267, 0.21118055284023285, 0.980063259601593, -1.1955324411392212, 1.5611588954925537, -1.4710537195205688, 0.37832868099212646, -0.14827105402946472, 1.0449618101119995, -0.14756840467453003, 1.6788560152053833, 0.699617326259613], "std": [0.013245215639472008, 0.007766545284539461, 0.03659624233841896, 0.06926916539669037, 0.14581245183944702, 0.05378758907318115, 0.05528990551829338, 0.05780642479658127, 0.04652746394276619, 0.3347508907318115, 0.12371436506509781, 0.18997347354888916], "count": [1920]}, "subtask_index": {"min": [50], "max": [1037], "mean": [962.60625], "std": [208.6065329416543], "count": [1920]}, "observation.tactile": {"min": [-0.007056186441332102, -4.35067449870985e-05, -9.577245509717613e-05, -0.001433302299119532, -8.822211384540424e-05, -0.00012134350254200399, -0.00786002166569233, -5.094929292681627e-05, -0.00011766770330723375, -0.00045197654981166124, -6.768939056200907e-05, -0.00013958703493699431, -0.004040144849568605, -5.175293699721806e-05, -0.00011549778719199821, -0.000932280148845166, -3.299529635114595e-05, -5.411812890088186e-05, -0.0177837535738945, -3.5537614166969433e-05, -7.826928049325943e-05, -0.0012939185835421085, -1.046910801960621e-05, -0.00037698892992921174, -0.007362863048911095, -4.8854664782993495e-05, -0.00011001147504430264, -0.0012249879073351622, -7.441636262228712e-05, -0.00011451236059656367, -3.6407382488250732, -4.2364903492853045e-05, -9.907339699566364e-05, -0.21172772347927094, -0.00459058815613389, -0.06898214668035507, -7.332503318786621, -0.5060821175575256, -0.00010128143185283989, -0.33826205134391785, -0.03290732949972153, -0.12604936957359314, -0.008369261398911476, -4.9449554353486747e-05, -0.00010883768845815212, -0.001383537077344954, -2.093867260555271e-05, -0.00019061332568526268, -0.013753808103501797, -5.173729368834756e-05, -0.00011738475586753339, -0.00493629090487957, -5.066417361376807e-05, -0.00029756641015410423, -0.2520686089992523, -4.1422361391596496e-05, -9.346002480015159e-05, -0.0013584912521764636, -0.0003683698014356196, -0.00413942476734519], "max": [0.022589435800909996, 0.02432599663734436, 0.07353207468986511, 1.8130988337361487e-06, 0.0004166269500274211, 0.0003479356237221509, 0.0003718164225574583, 0.0072358655743300915, 0.02217654325067997, 2.0335464796517044e-06, 2.4904822566895746e-05, 7.35569392418256e-06, 0.012383872643113136, 0.01773405820131302, 0.05073065310716629, 2.1478172129718587e-06, 0.00030202060588635504, 0.00012267511920072138, 0.006984785199165344, 0.023031724616885185, 0.06817735731601715, 1.4576266949006822e-06, 0.00021363126870710403, 7.55944856791757e-05, 0.002343496773391962, 0.022546660155057907, 0.06566360592842102, 2.0610586943803355e-06, 0.00010327662312192842, 1.7463760741520673e-05, 6.282746315002441, 7.746070384979248, 11.727079391479492, 1.8240285726278671e-06, 0.03909675404429436, 0.10719184577465057, 0.22420625388622284, 20.525197982788086, 21.387348175048828, 0.00955547671765089, 0.024481825530529022, 0.01800953783094883, 0.022092146798968315, 0.02087486907839775, 0.05950763449072838, 1.999122105189599e-06, 0.00025239563547074795, 0.00033155997516587377, 0.26886528730392456, 0.10198455303907394, 0.30460691452026367, 2.115637016686378e-06, 0.001512139686383307, 0.0038927197456359863, 0.0011076994705945253, 0.0443357490003109, 0.07822640985250473, 1.7634339428695966e-06, 0.0001399198081344366, 8.243558113463223e-06], "mean": [0.0006105354405008256, 0.002154730027541518, 0.006457711569964886, -0.0001172899137600325, 2.8749498596880585e-05, 4.603853540174896e-06, -0.00011109193292213604, 0.0010058123152703047, 0.0030371882021427155, -5.0054441089741886e-05, -3.2620556567053427e-07, -1.2620904499272e-06, -0.00043538439786061645, 0.0015349660534411669, 0.0045849354937672615, -7.367985381279141e-05, -2.073729319818085e-06, -4.938071924698306e-06, -0.0005268585518933833, 0.0009942947654053569, 0.0029420792125165462, -5.410952871898189e-05, 5.947734280198347e-06, -1.1555527635209728e-05, 0.00012981418694835156, 0.0004124885017517954, 0.0012246365658938885, -1.7812308215070516e-05, -1.958563416337711e-06, 4.225315933581442e-06, 1.7067149877548218, 2.156104326248169, 4.02670955657959, -0.0772424265742302, 0.008629275485873222, 0.02863241173326969, -2.1113169193267822, 1.7991676330566406, 7.080359935760498, -0.1100822240114212, -0.00382591737434268, -0.032301753759384155, 0.0006678727804683149, 0.003112765494734049, 0.009336920455098152, -0.0001848093088483438, 2.878831946873106e-05, 7.223413263091061e-07, 0.0002162064629374072, 0.0031669873278588057, 0.009350570850074291, -0.00018152710981667042, 1.6329842765117064e-05, -4.8070492084661964e-06, -0.0006278195069171488, 0.0013354656985029578, 0.0038066809065639973, -7.537877536378801e-05, 1.0641987273629638e-06, -1.1286722838121932e-05], "std": [0.002778891706839204, 0.004226266872137785, 0.012598083354532719, 0.0002482985146343708, 7.165862189140171e-05, 3.7475743738468736e-05, 0.000562124652788043, 0.001334716915152967, 0.00397705240175128, 6.596946332138032e-05, 4.120233825233299e-06, 9.941108146449551e-06, 0.0007742207380943, 0.0016274108784273267, 0.004811936989426613, 7.894552982179448e-05, 8.671787327330094e-06, 1.1563326552277431e-05, 0.0023694983683526516, 0.002982861828058958, 0.008767328225076199, 0.0001654421939747408, 1.989510201383382e-05, 4.9939495511353016e-05, 0.0006892307428643107, 0.0014084663707762957, 0.0040859985165297985, 6.67478161631152e-05, 9.362989658256993e-06, 1.0943874258373398e-05, 1.947802186012268, 2.1483867168426514, 3.8663523197174072, 0.074697345495224, 0.010061691515147686, 0.03453872352838516, 2.1605656147003174, 2.834630012512207, 7.046360015869141, 0.10913170129060745, 0.0077705951407551765, 0.033961426466703415, 0.002448874060064554, 0.003590032923966646, 0.010830131359398365, 0.00021704712708014995, 3.831134017673321e-05, 3.6908022593706846e-05, 0.01267507579177618, 0.007053310051560402, 0.021083276718854904, 0.0003813442017417401, 7.925750105641782e-05, 0.00018476250988896936, 0.009722617454826832, 0.003251069225370884, 0.00864774826914072, 0.00017014694458339363, 2.0567505998769775e-05, 0.00015788448217790574], "count": [1920]}, "timestamp": {"min": [0.0], "max": [63.96666666666667], "mean": [31.983333333333334], "std": [18.47520610820731], "count": [1920]}, "frame_index": {"min": [0], "max": [1919], "mean": [959.5], "std": [554.2561832462194], "count": [1920]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1920]}, "index": {"min": [44874], "max": [46793], "mean": [45833.5], "std": [554.2561832462194], "count": [1920]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1920]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5588559508323669]], [[0.5592593550682068]], [[0.559962272644043]]], "std": [[[0.2905808389186859]], [[0.2898421585559845]], [[0.29065898060798645]]], "count": [1920]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30645832419395447]], [[0.3090639114379883]], [[0.3064606785774231]]], "std": [[[0.18273133039474487]], [[0.18271459639072418]], [[0.1824086606502533]]], "count": [1920]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3085850179195404]], [[0.3116858899593353]], [[0.3083227872848511]]], "std": [[[0.1839202344417572]], [[0.18280993402004242]], [[0.18164996802806854]]], "count": [1920]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5615230202674866]], [[0.5615798234939575]], [[0.5618306398391724]]], "std": [[[0.2972881495952606]], [[0.2969576418399811]], [[0.2979986369609833]]], "count": [1920]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.658823549747467]], [[0.658823549747467]], [[0.658823549747467]]], "mean": [[[0.0038020117208361626]], [[0.0038020117208361626]], [[0.0038020117208361626]]], "std": [[[0.038778387010097504]], [[0.038778387010097504]], [[0.038778387010097504]]], "count": [1920]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49066078662872314]], [[0.49066078662872314]], [[0.49066078662872314]]], "std": [[[0.22167465090751648]], [[0.22167465090751648]], [[0.22167465090751648]]], "count": [1920]}}}
+{"episode_index": 20, "stats": {"observation.state": {"min": [1.050917148590088, -0.8092237114906311, -0.22387059032917023, 1.0500327348709106, -0.07589418441057205, -0.7681344151496887, 0.1149282306432724, 0.006884516682475805, -0.00019296315440442413, -0.26239025592803955, 0.004302687477320433, 0.0034988264087587595, 0.003665975062176585, -0.039626091718673706, 0.0034828712232410908, 0.0008491548360325396, -0.0034309644252061844, -0.0668603852391243, 0.006876392289996147, 0.0008469377062283456, -0.0032023314852267504, -0.02691636234521866, 0.002694323193281889, 0.0008451640023849905, 0.0059725446626544, -0.002900342922657728, -0.010975111275911331, 0.002398972399532795, 0.0005449667223729193, 1.0511239767074585, -1.0685701370239258, -0.24246424436569214, 1.0999022722244263, -1.5336863994598389, -0.7687162756919861, -0.3100161850452423, 0.005594483111053705, -0.1392831802368164, -0.20775027573108673, -0.19530019164085388, 0.0032460230868309736, 0.0054832627065479755, -0.12288057059049606, 0.005608120933175087, 0.0008048125309869647, 0.0001538124488433823, -0.11268969625234604, 0.0034233045298606157, 0.0008895063074305654, -0.0017530153272673488, -0.14645330607891083, 0.004727386869490147, 0.0008096902165561914, 0.0065890648402273655, -0.0005571080837398767, -0.16613678634166718, 0.005855605937540531, 0.0008447205764241517, 0.5624915957450867, -1.1069588661193848, 0.543796181678772, -0.0005752427969127893, -9.58738019107841e-05, -0.004889563657343388, -0.7610462307929993], "max": [1.2319148778915405, -0.6291341185569763, -0.001663410454057157, 1.5686025619506836, 0.17629824578762054, 0.35501912236213684, 0.6981423497200012, 1.3621059656143188, 0.2971522808074951, 0.0005922658601775765, 0.26661035418510437, 0.5585450530052185, 0.3273729979991913, 0.10561855882406235, 0.026174185797572136, 0.02696099691092968, 0.31517329812049866, 0.21248574554920197, 0.04945230111479759, 0.03615138307213783, 0.07217510789632797, 0.23559631407260895, 0.00888711865991354, 0.0131217697635293, 0.24267688393592834, 0.01626555249094963, 0.263548880815506, 0.0034162134397774935, 0.003750914242118597, 1.4709612131118774, -0.31675198674201965, -0.0021946709603071213, 1.806175708770752, 0.23020736873149872, -0.0014577610418200493, 0.6777901649475098, 1.4639965295791626, 0.2731024920940399, 0.30315884947776794, 0.26907846331596375, 0.3464242219924927, 1.1570680141448975, 0.1253395974636078, 0.5792603492736816, 0.31519341468811035, 1.2735989093780518, 0.16987662017345428, 1.3708815574645996, 0.6744000911712646, 1.3987841606140137, 0.18861764669418335, 1.512289047241211, 1.035997748374939, 0.24224768579006195, 1.3649715185165405, 0.2018604576587677, 1.4827046394348145, 1.3082093000411987, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.06567355245351791, -0.5737088322639465], "mean": [1.13448166847229, -0.678037166595459, -0.22117193043231964, 1.1466659307479858, 0.09938328713178635, 0.19353285431861877, 0.2767242193222046, 1.2788487672805786, 0.2849963903427124, -0.12202045321464539, 0.2128267139196396, 0.5383480787277222, 0.26097071170806885, 0.0846332386136055, 0.02203272469341755, 0.02373630180954933, 0.17473021149635315, 0.1624384969472885, 0.028848053887486458, 0.02321021258831024, 0.02665567211806774, 0.17227797210216522, 0.004557909443974495, 0.004454338923096657, 0.23771341145038605, 7.186507718870416e-05, 0.2259977012872696, 0.0024868117179721594, 0.0016531405271962285, 1.3069281578063965, -0.6089425683021545, -0.23478835821151733, 1.3750033378601074, -1.3256804943084717, -0.22312146425247192, -0.17403994500637054, 1.2858822345733643, 0.04181791841983795, 0.058057352900505066, -0.05559353902935982, 0.15326669812202454, 0.8764162063598633, 0.06295434385538101, 0.1405617892742157, 0.16206204891204834, 1.1491390466690063, -0.04300324618816376, 1.1816107034683228, 0.4405978322029114, 1.308486819267273, -0.09791980683803558, 1.2884372472763062, 0.6999765634536743, 0.048604074865579605, 1.2731406688690186, -0.11651407182216644, 1.0416946411132812, 1.2482575178146362, 0.5626961588859558, -1.1068543195724487, 0.5441392660140991, 1.5354618881247006e-05, -3.293217787359026e-07, 0.03205517306923866, -0.7223480343818665], "std": [0.03672385960817337, 0.02837834507226944, 0.020536744967103004, 0.07707282900810242, 0.03652315214276314, 0.17124678194522858, 0.13586784899234772, 0.11767321825027466, 0.030506405979394913, 0.041039809584617615, 0.023468058556318283, 0.056035272777080536, 0.032520752400159836, 0.016506019979715347, 0.0024498554412275553, 0.0031385815236717463, 0.0504816472530365, 0.04055297002196312, 0.006492403335869312, 0.005377783440053463, 0.017302799969911575, 0.04984819516539574, 0.0027268859557807446, 0.002764047123491764, 0.023547977209091187, 0.0032884336542338133, 0.04588271304965019, 0.000209353631362319, 0.000342251209076494, 0.11597941070795059, 0.16922368109226227, 0.021712150424718857, 0.17243795096874237, 0.2864696979522705, 0.12105900794267654, 0.1623665690422058, 0.16736343502998352, 0.08365851640701294, 0.104195237159729, 0.08355652540922165, 0.09338292479515076, 0.21383285522460938, 0.03697548806667328, 0.1062818393111229, 0.08104639500379562, 0.2188328504562378, 0.030335230752825737, 0.25978419184684753, 0.10762373358011246, 0.25921201705932617, 0.044455934315919876, 0.2855626940727234, 0.2059994786977768, 0.025954682379961014, 0.2518475353717804, 0.04928656667470932, 0.28359511494636536, 0.2644523084163666, 2.4196686354116537e-05, 2.9094850106048398e-05, 6.793891952838749e-05, 0.0003625311946962029, 9.312524525739718e-06, 0.015998100861907005, 0.03773651644587517], "count": [2329]}, "observation.state.joint_torque": {"min": [-32.073001861572266, -12.136500358581543, -17.125, -9.529999732971191, -0.7928000092506409, -1.6031999588012695, 0.8808000087738037, -0.6749696135520935, -0.28781723976135254, -0.6412277817726135, -0.3889618515968323, -0.0979551151394844, -0.3386908769607544, -0.5564892888069153, -0.08467306196689606, -0.04066966846585274, -0.303190678358078, -0.38762354850769043, -0.12119869887828827, -0.032821137458086014, -0.2341092824935913, -0.5334621071815491, -0.07471152395009995, -0.03424813970923424, -0.10863086581230164, -0.11513571441173553, -0.44135355949401855, -0.014942305162549019, -0.03781566023826599, 11.623499870300293, -7.50600004196167, -0.2930000126361847, -8.324000358581543, -2.7304000854492188, -3.748800039291382, -3.6703999042510986, -1.824965000152588, -1.0519336462020874, -0.6959062218666077, -1.0699557065963745, -0.18096791207790375, -1.0592485666275024, -0.8827070593833923, -0.12949997186660767, -0.06207476183772087, -1.4929263591766357, -1.1225732564926147, -0.7520959973335266, -0.15054912865161896, -1.019910454750061, -0.4164074957370758, -0.7305126786231995, -0.15554364025592804, -0.17636024951934814, -1.4535882472991943, -0.4029749929904938, -0.6807050108909607, -0.1591111570596695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.535499572753906, 8.326499938964844, -10.60099983215332, 1.4329999685287476, 1.4880000352859497, 1.319200038909912, 2.545599937438965, 0.30055248737335205, 0.2534319758415222, 0.36535075306892395, 0.37032151222229004, 0.10791664570569992, 0.4164074659347534, 0.2657715976238251, 0.0796922892332077, 0.016410568729043007, 0.3626774847507477, 0.34444767236709595, 0.1328205019235611, 0.012843053787946701, 0.2916771173477173, 0.37994784116744995, 0.05478844791650772, 0.015697065740823746, 0.07212737947702408, 0.2177983820438385, 0.3482855260372162, 0.0016602561809122562, 0.01212955079972744, 40.50299835205078, 10.30049991607666, 21.788999557495117, 2.3440001010894775, 0.1136000007390976, 3.2039999961853027, 1.158400058746338, 2.3407435417175293, 4.905628204345703, 2.0019729137420654, 1.481285810470581, 0.6474998593330383, 2.148240327835083, 1.0275862216949463, 1.0575830936431885, 0.21476440131664276, 0.6591519117355347, 0.5334621071815491, 0.5478845238685608, 0.20263484120368958, 0.9863292574882507, 0.6035030484199524, 0.5146793723106384, 0.20049433410167694, 0.12358411401510239, 1.5744807720184326, 0.5660839080810547, 0.47151273488998413, 0.20263484120368958, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.619930267333984, 2.418001174926758, -12.854759216308594, -1.8350977897644043, -0.4111378490924835, -0.8117536902427673, 1.5710829496383667, -0.004262962844222784, 9.843731095315889e-05, 0.03198555111885071, 0.007642893586307764, 0.0017529308097437024, 0.005418550223112106, 0.004966233856976032, 0.0006964663043618202, 8.884436283551622e-06, 0.026771876960992813, 0.007781982421875, 0.0020715820137411356, 0.00034189291181974113, 0.03530743718147278, 0.0444076806306839, -0.00035072845639660954, -0.000946640910115093, -0.0006156080053187907, 0.007162816356867552, 0.027517244219779968, -0.00012332521146163344, -0.0011742623755708337, 27.26006317138672, 0.4922022223472595, 13.209535598754883, -1.7766855955123901, -0.7557294964790344, 1.4210542440414429, -0.8475006818771362, 0.11179760098457336, 1.0361734628677368, 0.300036758184433, 0.1543818563222885, 0.12415490299463272, 1.0181512832641602, 0.017246870324015617, 0.35120832920074463, 0.10217511653900146, -0.10318585485219955, -0.1217687651515007, -0.0014328426914289594, -0.0014101561391726136, 0.00672984030097723, -0.006447224877774715, -0.00425150990486145, -0.0010131171438843012, -0.0039034441579133272, 0.012139782309532166, -0.0010743943275883794, -0.015959573909640312, 0.0007943841628730297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6282213926315308, 0.8745850324630737, 0.6630757451057434, 0.6637127995491028, 0.3191065788269043, 0.49899953603744507, 0.2119162231683731, 0.03630688786506653, 0.025042982771992683, 0.059468865394592285, 0.05537628382444382, 0.01030346192419529, 0.05040467903017998, 0.05750442296266556, 0.006559120025485754, 0.00449532363563776, 0.05138077586889267, 0.052689068019390106, 0.01572538912296295, 0.003777334000915289, 0.05444307625293732, 0.07469695061445236, 0.005356424022465944, 0.005369867198169231, 0.007608361542224884, 0.02732633426785469, 0.06245865672826767, 0.0010007203090935946, 0.004742058459669352, 4.514291286468506, 1.7080656290054321, 1.7966388463974, 1.7471779584884644, 0.24772921204566956, 0.7180919647216797, 0.46884557604789734, 0.5544371008872986, 1.2917248010635376, 0.3968717157840729, 0.31766968965530396, 0.1579347550868988, 0.9987730979919434, 0.20408916473388672, 0.37872982025146484, 0.09872827678918839, 0.2572256028652191, 0.20748506486415863, 0.03970383480191231, 0.010865957476198673, 0.06689601391553879, 0.06077355891466141, 0.03279474377632141, 0.011851227842271328, 0.02188858389854431, 0.1255604326725006, 0.09376528859138489, 0.03719450160861015, 0.013414221815764904, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2329]}, "observation.state.tcp": {"min": [0.36199480295181274, 0.19239076972007751, 0.9431490302085876, -1.3668780326843262, 1.2180393934249878, -1.6910176277160645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27443140745162964, -0.2594122290611267, 0.9862474799156189, -0.6208251118659973, 1.2196465730667114, 0.4113827049732208, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41157323122024536, 0.23708540201187134, 1.0516536235809326, -0.9453911781311035, 2.096052408218384, -1.2298976182937622, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4533775746822357, -0.04678598791360855, 1.1444892883300781, 1.2750948667526245, 2.159564256668091, 1.5474413633346558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39438149333000183, 0.2187546342611313, 0.9802590012550354, -1.2716786861419678, 1.8544938564300537, -1.6398617029190063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3949650824069977, -0.13076253235340118, 1.066736102104187, -0.21421658992767334, 1.8341697454452515, 0.6026375889778137, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008757458999752998, 0.005151538643985987, 0.024884680286049843, 0.0756995901465416, 0.1955355852842331, 0.048061303794384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05338871106505394, 0.05201499164104462, 0.05026336759328842, 0.27954739332199097, 0.15864267945289612, 0.18335627019405365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2329]}, "action": {"min": [1.050516128540039, -0.8092643618583679, -0.2238653302192688, 1.0499893426895142, -0.07595888525247574, -0.7682473659515381, 0.11491455137729645, 0.0, 0.0, -0.26301097869873047, 0.0, 0.0, 0.0, -0.044271938502788544, 0.0, 0.0, 0.0, -0.07458090037107468, 0.0, 0.0, 0.0, -0.06326845288276672, 0.0, 0.0, 0.0, 0.0, -0.020794162526726723, 0.0, 0.0, 1.050305724143982, -1.0686193704605103, -0.2424648404121399, 1.0998852252960205, -1.5336719751358032, -0.7690231204032898, -0.31020787358283997, 0.0, -0.15081170201301575, -0.21241101622581482, -0.19848306477069855, 0.0, 0.0, -0.12011712789535522, 0.0, 0.0, 0.0, -0.11850208044052124, 0.0, 0.0, 0.0, -0.15153725445270538, 0.0, 0.0, 0.0, 0.0, -0.17093122005462646, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439889430999756, -0.0004771457170136273, -0.00010601165558909997, -0.006864225957542658, -0.7611241340637207], "max": [1.2319324016571045, -0.629141092300415, -0.0009947700891643763, 1.569220781326294, 0.1766352504491806, 0.35503846406936646, 0.7829461097717285, 1.3638964891433716, 0.2947973906993866, 0.0, 0.2730771005153656, 0.5638986825942993, 0.329948365688324, 0.10553906112909317, 0.03148029372096062, 0.031441982835531235, 0.31868764758110046, 0.21304172277450562, 0.05515521392226219, 0.038185108453035355, 0.07155803591012955, 0.2383875846862793, 0.015774857252836227, 0.014501784928143024, 0.26180002093315125, 0.018192509189248085, 0.26804378628730774, 0.006021298002451658, 0.005849423818290234, 1.4709571599960327, -0.31671807169914246, -0.000556064595002681, 1.8064591884613037, 0.23017725348472595, -0.0010639387182891369, 0.6776019334793091, 1.4675161838531494, 0.2916129231452942, 0.30519339442253113, 0.28480201959609985, 0.36671724915504456, 1.2242350578308105, 0.13123275339603424, 0.5799362063407898, 0.34581470489501953, 1.4964925050735474, 0.22919273376464844, 1.3760179281234741, 0.6842506527900696, 1.4854180812835693, 0.23577100038528442, 1.5167453289031982, 1.038357138633728, 0.26180002093315125, 1.370079755783081, 0.2444150298833847, 1.4893499612808228, 1.4420621395111084, 0.5626999735832214, -1.106863021850586, 0.5442732572555542, 0.0004228278703521937, 9.73095593508333e-05, 0.06644156575202942, -0.5732859969139099], "mean": [1.1345314979553223, -0.6780803799629211, -0.22117461264133453, 1.146710991859436, 0.09930326044559479, 0.19342763721942902, 0.27774855494499207, 1.2767447233200073, 0.28840309381484985, -0.11793812364339828, 0.21427500247955322, 0.5439927577972412, 0.26539140939712524, 0.08552656322717667, 0.02717539481818676, 0.027233000844717026, 0.18226826190948486, 0.1636335551738739, 0.033588897436857224, 0.02637919783592224, 0.02674788050353527, 0.179792121052742, 0.007758075371384621, 0.007035209331661463, 0.25737956166267395, 0.0006700996309518814, 0.2341541349887848, 0.00024800715618766844, 0.0002442174300085753, 1.307625412940979, -0.6097183227539062, -0.23479720950126648, 1.3756103515625, -1.3256268501281738, -0.2232670933008194, -0.17356520891189575, 1.2869057655334473, 0.04372303932905197, 0.057934489101171494, -0.05631604418158531, 0.15416264533996582, 0.9076981544494629, 0.061819884926080704, 0.1417224109172821, 0.18295373022556305, 1.1511719226837158, -0.04242156445980072, 1.1822783946990967, 0.44143617153167725, 1.3115235567092896, -0.09779185801744461, 1.2889626026153564, 0.7015065550804138, 0.047371938824653625, 1.2754913568496704, -0.11680616438388824, 1.042178750038147, 1.3378546237945557, 0.5626965165138245, -1.1068596839904785, 0.5441821217536926, 1.5352359696407802e-05, -3.0183680337358965e-06, 0.03210693225264549, -0.7223885655403137], "std": [0.036762647330760956, 0.028459135442972183, 0.02057493105530739, 0.07709759473800659, 0.0365312285721302, 0.1712646633386612, 0.13870090246200562, 0.1360703557729721, 0.0340002067387104, 0.04269003868103027, 0.0279482863843441, 0.06345746666193008, 0.03510979190468788, 0.01610192097723484, 0.003378832945600152, 0.0033800355158746243, 0.05153736099600792, 0.0392727293074131, 0.007979891262948513, 0.006014011800289154, 0.017686039209365845, 0.05012591928243637, 0.004049083683639765, 0.003685863921418786, 0.03009861707687378, 0.0026863943785429, 0.045943256467580795, 0.0009728568256832659, 0.0009565681684762239, 0.11603205651044846, 0.16978241503238678, 0.021759258583188057, 0.172876238822937, 0.2860412895679474, 0.12051085382699966, 0.16346628963947296, 0.17310141026973724, 0.08413609117269516, 0.10341773927211761, 0.08398278057575226, 0.09425359964370728, 0.2349742352962494, 0.03613375872373581, 0.10644316673278809, 0.0925571545958519, 0.2145567238330841, 0.0317450575530529, 0.2558723986148834, 0.10687325894832611, 0.25333449244499207, 0.04380485787987709, 0.2809932827949524, 0.20466192066669464, 0.028548039495944977, 0.24626614153385162, 0.0487486757338047, 0.28093650937080383, 0.28064239025115967, 1.3098921954224352e-05, 5.339658400771441e-06, 2.1914391254540533e-05, 0.0003991232661064714, 1.6656900697853416e-05, 0.0160318985581398, 0.03781312704086304], "count": [2329]}, "observation.state.tcp_pose": {"min": [0.36199480295181274, 0.19239076972007751, 0.9431490302085876, -1.3668780326843262, 1.2180393934249878, -1.6910176277160645, 0.27443140745162964, -0.2594122290611267, 0.9862474799156189, -0.6208251118659973, 1.2196465730667114, 0.4113827049732208], "max": [0.41157323122024536, 0.23708540201187134, 1.0516536235809326, -0.9453911781311035, 2.096052408218384, -1.2298976182937622, 0.4533775746822357, -0.04678598791360855, 1.1444892883300781, 1.2750948667526245, 2.159564256668091, 1.5474413633346558], "mean": [0.39438149333000183, 0.2187546342611313, 0.9802590012550354, -1.2716786861419678, 1.8544938564300537, -1.6398617029190063, 0.3949650824069977, -0.13076253235340118, 1.066736102104187, -0.21421658992767334, 1.8341697454452515, 0.6026375889778137], "std": [0.008757458999752998, 0.005151538643985987, 0.024884680286049843, 0.0756995901465416, 0.1955355852842331, 0.048061303794384, 0.05338871106505394, 0.05201499164104462, 0.05026336759328842, 0.27954739332199097, 0.15864267945289612, 0.18335627019405365], "count": [2329]}, "action.tcp_pose": {"min": [0.3618810176849365, 0.19246403872966766, 0.9431424140930176, -1.367005705833435, 1.2185487747192383, -1.70527184009552, 0.27440962195396423, -0.25988879799842834, 0.9861648082733154, -0.6212977766990662, 1.2182461023330688, 0.4114401340484619], "max": [0.4116225242614746, 0.23738813400268555, 1.051738977432251, -0.9149860739707947, 2.0960936546325684, -1.229999303817749, 0.4532940983772278, -0.04678371548652649, 1.148156762123108, 1.27009117603302, 2.1596381664276123, 1.54698646068573], "mean": [0.39439916610717773, 0.21877242624759674, 0.9803362488746643, -1.271059274673462, 1.8534797430038452, -1.640372395515442, 0.394999623298645, -0.130958691239357, 1.0671342611312866, -0.21430103480815887, 1.8330128192901611, 0.6033486127853394], "std": [0.008758298121392727, 0.005166379734873772, 0.024940233677625656, 0.07781000435352325, 0.1972952038049698, 0.048061802983284, 0.0534231923520565, 0.05215911194682121, 0.05038422718644142, 0.2781845033168793, 0.15948323905467987, 0.18536262214183807], "count": [2329]}, "subtask_index": {"min": [50], "max": [1090], "mean": [986.3104336625161], "std": [249.1831003490291], "count": [2329]}, "observation.tactile": {"min": [-0.023725880309939384, -3.6623758205678314e-05, -7.992872269824147e-05, -0.0018402851419523358, -7.984025432961062e-05, -0.0004843792412430048, -0.0032917375210672617, -4.486541001824662e-05, -0.0001042402655002661, -0.0005069990293122828, -9.182727808365598e-06, -6.1014936363790184e-05, -0.008265366777777672, -4.736011032946408e-05, -0.00010511955770198256, -0.0008661623578518629, -6.975695578148589e-05, -0.0001308856444666162, -0.02603553980588913, -3.483383625280112e-05, -7.541442755609751e-05, -0.0016518676420673728, -1.577171678945888e-05, -0.0005468635936267674, -0.010179245844483376, -4.681815698859282e-05, -0.00010431691771373153, -0.0007306411280296743, -2.2708945834892802e-05, -0.00019364534819032997, -4.775897026062012, -3.708897565957159e-05, -8.693319250596687e-05, -0.20872654020786285, -0.014071549288928509, -0.08288548141717911, -5.17355489730835, -0.5788572430610657, -0.00010583276889519766, -0.2190670520067215, -0.0282396599650383, -0.07523109763860703, -1.3985294103622437, -4.528881618170999e-05, -9.981634502764791e-05, -0.004504146054387093, -0.0019435607828199863, -0.017096610739827156, -0.017968900501728058, -5.5121352488640696e-05, -0.0001238685508724302, -0.0025882930494844913, -3.748268136405386e-05, -0.0003991614212282002, -0.15680427849292755, -4.5007633161731064e-05, -0.00010119108628714457, -0.0015251839067786932, -0.00011734915460692719, -0.0020303453784435987], "max": [0.008424553088843822, 0.029368428513407707, 0.09066525101661682, 1.5170439837675076e-06, 0.0002802428789436817, 9.277622302761301e-05, 0.0005166000337339938, 0.010249962098896503, 0.03065735101699829, 1.8003220247919671e-06, 0.00011223081673961133, 6.566099727933761e-06, 0.005548420827835798, 0.015612681396305561, 0.0467815026640892, 1.978613227038295e-06, 0.00016297184629365802, 3.9808863220969215e-05, 0.0007879918557591736, 0.03152541071176529, 0.08934460580348969, 1.3907199445384322e-06, 0.00016698616673238575, 5.603585577773629e-06, 0.0045673782005906105, 0.013715197332203388, 0.04108970984816551, 1.944016048582853e-06, 0.0001289352949243039, 4.755632107844576e-05, 5.367237091064453, 16.09716796875, 9.676595687866211, 1.6027750007197028e-06, 0.034655749797821045, 0.10186117887496948, 0.16029921174049377, 7.353185176849365, 12.800289154052734, 1.9908329704776406e-06, 0.02271207980811596, 0.014148766174912453, 0.004427134525030851, 0.4677889049053192, 0.2819722592830658, 1.8057667148241308e-06, 0.0012182595673948526, 5.185190457268618e-05, 0.23277197778224945, 0.052659790962934494, 0.15695565938949585, 2.2859926502860617e-06, 0.0008193370886147022, 0.0037671318277716637, 0.004311308264732361, 0.028150448575615883, 0.07349568605422974, 1.866485604296031e-06, 0.0002578374114818871, 6.65889383526519e-05], "mean": [-0.000885045388713479, 0.003339974209666252, 0.009929117746651173, -0.0001876918540801853, 1.9083052393398248e-05, -2.4392289560637437e-05, 6.010189827065915e-05, 0.0004747456987388432, 0.0014340166235342622, -2.3505894205300137e-05, 3.8810932778687857e-07, 1.315968688686553e-06, -5.7630986702861264e-05, 0.0009365899604745209, 0.0027693004813045263, -4.9729409511201084e-05, 1.5004687838882091e-06, -1.0193324442298035e-06, -0.001046187011525035, 0.0013963321689516306, 0.004088850691914558, -7.368069782387465e-05, 6.822319846833125e-06, -2.0935684005962685e-05, -0.0002980475255753845, 0.001198962447233498, 0.00347877386957407, -5.245220017968677e-05, 4.5125661927158944e-06, -4.517479283094872e-06, 1.4193395376205444, 1.5343009233474731, 2.8325631618499756, -0.058905910700559616, 0.003914151340723038, 0.028082190081477165, -0.9145259261131287, 0.6146385073661804, 4.247683525085449, -0.07623560726642609, -0.002702264580875635, -0.015631522983312607, -0.009409659542143345, 0.007504919543862343, 0.018842460587620735, -0.0003917607245966792, 1.0552929779805709e-05, -0.00016145479457918555, -0.000488431251142174, 0.0030987709760665894, 0.009136638604104519, -0.0001711362274363637, 1.0481915523996577e-05, -1.5906984117464162e-05, -0.0019339837599545717, 0.005034476984292269, 0.014789641834795475, -0.00031955810845829546, -1.3202323316363618e-05, -3.516263313940726e-05], "std": [0.002340506762266159, 0.004902957007288933, 0.014272709377110004, 0.00028333900263532996, 5.4956883104750887e-05, 4.8157613491639495e-05, 0.0005197395803406835, 0.0012522797333076596, 0.0036923473235219717, 6.087221481720917e-05, 5.38242056791205e-06, 9.840790880843997e-06, 0.0008068294264376163, 0.0017015001503750682, 0.0050000716000795364, 9.210890857502818e-05, 1.9321136278449558e-05, 1.3294595191837288e-05, 0.003334419336169958, 0.0036946414038538933, 0.010785173624753952, 0.0002006900031119585, 2.1704465325456113e-05, 6.816891982452944e-05, 0.0011164013994857669, 0.0022587324492633343, 0.0065071480348706245, 0.00010020967602031305, 1.3816530554322526e-05, 1.9671319023473188e-05, 1.5670846700668335, 1.70243501663208, 2.790564775466919, 0.05902060121297836, 0.007948086597025394, 0.03078983910381794, 1.101333498954773, 0.9786134958267212, 4.132649898529053, 0.07369793951511383, 0.006531888619065285, 0.018906796351075172, 0.07077158242464066, 0.020595598965883255, 0.024756187573075294, 0.0004974803887307644, 0.00013227754971012473, 0.0010636470979079604, 0.009875230491161346, 0.004542754963040352, 0.01346762478351593, 0.000258972926530987, 4.445193553692661e-05, 0.00015798099047970027, 0.005388817749917507, 0.004352217074483633, 0.01270076259970665, 0.00027591761318035424, 1.995710226765368e-05, 7.339756120927632e-05], "count": [2329]}, "timestamp": {"min": [0.0], "max": [77.6], "mean": [38.8], "std": [22.410810883242142], "count": [2329]}, "frame_index": {"min": [0], "max": [2328], "mean": [1164.0], "std": [672.3243264972642], "count": [2329]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [2329]}, "index": {"min": [46794], "max": [49122], "mean": [47958.0], "std": [672.3243264972642], "count": [2329]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2329]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685319304466248]], [[0.5687697529792786]], [[0.5688398480415344]]], "std": [[[0.29828986525535583]], [[0.2978060841560364]], [[0.2985623776912689]]], "count": [2329]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3031212091445923]], [[0.30563148856163025]], [[0.30342626571655273]]], "std": [[[0.18372400104999542]], [[0.18378053605556488]], [[0.18363119661808014]]], "count": [2329]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30962568521499634]], [[0.3121486008167267]], [[0.3088575303554535]]], "std": [[[0.18304607272148132]], [[0.18231676518917084]], [[0.18089930713176727]]], "count": [2329]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685608983039856]], [[0.5685427784919739]], [[0.5682734251022339]]], "std": [[[0.30217424035072327]], [[0.3020147681236267]], [[0.30301427841186523]]], "count": [2329]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6509804129600525]], [[0.6509804129600525]], [[0.6509804129600525]]], "mean": [[[0.002204644726589322]], [[0.002204644726589322]], [[0.002204644726589322]]], "std": [[[0.029134955257177353]], [[0.029134955257177353]], [[0.029134955257177353]]], "count": [2329]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4899042248725891]], [[0.4899042248725891]], [[0.4899042248725891]]], "std": [[[0.22143200039863586]], [[0.22143200039863586]], [[0.22143200039863586]]], "count": [2329]}}}
+{"episode_index": 21, "stats": {"observation.state": {"min": [1.0500856637954712, -0.7799454927444458, -0.22376428544521332, 1.0708191394805908, -0.043531857430934906, -0.7693721055984497, 0.08462109416723251, 0.006880361121147871, -0.00021952259703539312, -0.260236531496048, 2.708471402002033e-05, 0.0034913807176053524, 0.003658125177025795, -0.0471893735229969, 0.0034945716615766287, 0.0008323047659359872, -0.0033075709361582994, -0.0826355591416359, 0.00306271412409842, 0.0008518153917975724, -0.003141984110698104, -0.026932554319500923, 0.0067366948351264, 0.0008274271385744214, 0.005927589721977711, -0.0028557025361806154, -0.02592872828245163, 0.003137172432616353, 0.0008340784697793424, 1.0499818325042725, -1.0277700424194336, -0.24256490170955658, 1.050127625465393, -1.7526886463165283, -0.7700001001358032, -0.22048600018024445, 0.00567958177998662, -0.1360844224691391, -0.17848794162273407, -0.22254705429077148, 0.0032499232329428196, 0.00536256842315197, -0.06710397452116013, 0.0035849851556122303, 0.0008354087476618588, -0.0016401705797761679, -0.09698158502578735, 0.0029559906106442213, 0.0008615707047283649, -0.001524627790786326, -0.14320562779903412, 0.0035392465069890022, 0.0008438337245024741, 0.00687056640163064, -0.0017701858887448907, -0.1679994910955429, 0.0032687149941921234, 0.0008695522556081414, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0007669904152862728, -9.58738019107841e-05, -0.015243934467434883, -0.8258569240570068], "max": [1.2587536573410034, -0.6946305632591248, -0.0001887515390990302, 1.5696054697036743, 0.17458678781986237, 0.3447645902633667, 0.6981663107872009, 1.4337295293807983, 0.2955664396286011, 0.0018222543876618147, 0.26652151346206665, 0.6362967491149902, 0.49042847752571106, 0.14663437008857727, 0.037794627249240875, 0.036138080060482025, 0.4258519411087036, 0.23975317180156708, 0.045643944293260574, 0.041059184819459915, 0.19336792826652527, 0.2520451247692108, 0.02611958235502243, 0.0269694235175848, 0.24095791578292847, 0.09362734854221344, 0.24926939606666565, 0.014937379397451878, 0.017680158838629723, 1.415484070777893, -0.32624614238739014, -1.1984224101979635e-07, 1.8052431344985962, 0.1907617747783661, 0.044190872460603714, 0.6981396675109863, 1.4375584125518799, 0.2806822657585144, 0.2766040563583374, 0.24198482930660248, 0.4215277433395386, 1.1185885667800903, 0.15228171646595, 0.381328821182251, 0.5168590545654297, 1.320255994796753, 0.18436071276664734, 1.273095965385437, 0.4273182153701782, 1.431085228919983, 0.21045774221420288, 1.444555401802063, 0.8365620970726013, 0.13250912725925446, 1.3792023658752441, 0.21183666586875916, 1.4774688482284546, 1.3081573247909546, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 0.0, 0.0782330185174942, -0.5998823642730713], "mean": [1.1557544469833374, -0.7155786156654358, -0.22060231864452362, 1.1201448440551758, -0.04056642949581146, 0.22264322638511658, 0.22381815314292908, 1.3725991249084473, 0.28696292638778687, -0.1069759875535965, 0.16684573888778687, 0.5750744938850403, 0.4517704248428345, 0.13090644776821136, 0.03315768763422966, 0.03459480404853821, 0.36932846903800964, 0.21084104478359222, 0.04390005022287369, 0.03661379963159561, 0.1546659767627716, 0.22053158283233643, 0.022724535316228867, 0.02018480934202671, 0.06641043722629547, 0.06150655820965767, 0.22367902100086212, 0.00938219390809536, 0.010614382103085518, 1.2731143236160278, -0.6336720585823059, -0.23276054859161377, 1.3567088842391968, -1.4037317037582397, -0.2426558881998062, -0.010037546046078205, 1.2983027696609497, 0.0790543407201767, 0.014292100444436073, -0.08342434465885162, 0.15687665343284607, 0.8350745439529419, 0.09341774135828018, 0.11724205315113068, 0.1893923431634903, 1.236112117767334, -0.042392875999212265, 1.11917245388031, 0.18857571482658386, 1.3407607078552246, -0.10458031296730042, 1.2477407455444336, 0.47401559352874756, 0.046305760741233826, 1.2820894718170166, -0.12521807849407196, 0.93807452917099, 1.2470811605453491, 0.5626958608627319, -1.1068576574325562, 0.5440904498100281, -0.00043848040513694286, -4.172053991169378e-08, 0.041151028126478195, -0.7373664379119873], "std": [0.02625213749706745, 0.014868413098156452, 0.02184583991765976, 0.060048457235097885, 0.017886340618133545, 0.1645665317773819, 0.12463314086198807, 0.14921937882900238, 0.03523758798837662, 0.042912356555461884, 0.024065138772130013, 0.0719967931509018, 0.06775103509426117, 0.024221008643507957, 0.0044774701818823814, 0.0048411134630441666, 0.07442641258239746, 0.04276897758245468, 0.008014294318854809, 0.007288321852684021, 0.03825164958834648, 0.046014219522476196, 0.004217266105115414, 0.004385265056043863, 0.026904815807938576, 0.018761327490210533, 0.04328911751508713, 0.0030244686640799046, 0.0030110650695860386, 0.10069902241230011, 0.16451172530651093, 0.02550005167722702, 0.18643544614315033, 0.349132239818573, 0.1313280463218689, 0.15747781097888947, 0.17953859269618988, 0.07502156496047974, 0.09079014509916306, 0.08894860744476318, 0.11440511792898178, 0.2111196368932724, 0.03227011114358902, 0.08291415125131607, 0.12223753333091736, 0.23675864934921265, 0.0329456627368927, 0.24068862199783325, 0.08634606748819351, 0.261016845703125, 0.04698702692985535, 0.26850518584251404, 0.13874992728233337, 0.017632506787776947, 0.25530320405960083, 0.05033507198095322, 0.2556486427783966, 0.26238396763801575, 1.958654866029974e-05, 2.256682637380436e-05, 4.554496263153851e-05, 0.00011005391570506617, 1.9995502498204587e-06, 0.021245969459414482, 0.04218309372663498], "count": [2298]}, "observation.state.joint_torque": {"min": [-38.9474983215332, -10.120499610900879, -20.128999710083008, -9.100000381469727, -0.9272000193595886, -1.7264000177383423, 1.1543999910354614, -0.686431348323822, -0.31583482027053833, -0.579093337059021, -0.34173962473869324, -0.11787818372249603, -0.47877267003059387, -0.7493415474891663, -0.09297433495521545, -0.04209667816758156, -0.4432724714279175, -0.4068128168582916, -0.12617947161197662, -0.033534638583660126, -0.33485302329063416, -0.41352906823158264, -0.061429474502801895, -0.03068062849342823, -0.10027465224266052, -0.26673105359077454, -0.4375157058238983, -0.08965382725000381, -0.02925362065434456, 10.975500106811523, -8.880000114440918, -0.14800000190734863, -8.515999794006348, -2.611999988555908, -3.871999979019165, -3.379199981689453, -1.6670475006103516, -0.7004401087760925, -0.51198810338974, -1.3719292879104614, -0.13116022944450378, -0.5766380429267883, -0.5536107420921326, -0.10459613054990768, -0.06207476183772087, -1.017991542816162, -1.0659648180007935, -0.13780125975608826, -0.03068062849342823, -0.23602819442749023, -0.5651244521141052, -0.09961536526679993, -0.04994520545005798, -0.13809753954410553, -0.36363694071769714, -0.47685372829437256, -0.1145576685667038, -0.08990137279033661, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.87350082397461, 9.84749984741211, -11.217000007629395, 3.947999954223633, 1.4752000570297241, 1.1191999912261963, 3.361599922180176, 0.8901957273483276, 0.35022008419036865, 0.5405699610710144, 0.5355991721153259, 0.14610254764556885, 0.3511638939380646, 0.32046106457710266, 0.04980768263339996, 0.014983562752604485, 0.38762351870536804, 0.2887987494468689, 0.11123716086149216, 0.014983562752604485, 0.3310151696205139, 0.4403940737247467, 0.11123716086149216, 0.016410568729043007, 0.07212737947702408, 0.20244696736335754, 0.37515053153038025, 0.05146794021129608, 0.013556556776165962, 36.57749938964844, 12.984000205993652, 19.479999542236328, 2.7100000381469727, 0.4560000002384186, 2.992799997329712, 1.6064000129699707, 2.550875425338745, 4.990954399108887, 2.0628645420074463, 1.499926209449768, 0.6807050108909607, 2.1501593589782715, 1.0237482786178589, 1.0592433214187622, 0.21476440131664276, 0.5775974988937378, 0.2744067907333374, 0.35861530900001526, 0.02925362065434456, 0.3358124792575836, 0.3051096200942993, 0.11123716086149216, 0.027826614677906036, 0.12270450592041016, 0.513313353061676, 0.393380343914032, 0.12119869887828827, 0.04281017929315567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.74640655517578, 2.9192278385162354, -12.791464805603027, -1.4367682933807373, -0.5261809229850769, -0.4291634261608124, 1.6296850442886353, 0.0016936027677729726, -0.002998166484758258, 0.03746893256902695, 0.0092612374573946, 0.0028574098832905293, 0.008347093127667904, 0.008876491338014603, 0.00043420938891358674, -4.750434527522884e-05, 0.018608447164297104, 0.0019043077481910586, 4.334926779847592e-05, -0.00010929143172688782, 0.03195430710911751, 0.02970043011009693, 0.0008048416930250823, 0.00042071205098181963, -0.0026566029991954565, 0.011843799613416195, 0.007327058352530003, 0.001379934954456985, 0.00017915223725140095, 26.790481567382812, 0.9102086424827576, 12.949015617370605, -2.0607478618621826, -0.5034895539283752, 1.43234384059906, -0.8055539727210999, 0.15982764959335327, 1.0053744316101074, 0.40845954418182373, 0.21355490386486053, 0.12177547067403793, 0.9172967672348022, 0.026177726686000824, 0.3605039715766907, 0.09425918757915497, -0.018179725855588913, -0.11505544185638428, 0.002939770231023431, 0.0018017636612057686, 0.014822831377387047, -0.04419216886162758, 0.002327105263248086, -0.002369645284488797, -0.0011618937132880092, 0.02441791631281376, -0.023551125079393387, -0.013606446795165539, 0.002205098047852516, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6583977341651917, 0.8352013230323792, 0.5137967467308044, 0.6874287128448486, 0.30398955941200256, 0.36478590965270996, 0.20136387646198273, 0.045111656188964844, 0.025128718465566635, 0.07121406495571136, 0.05806393921375275, 0.01348061952739954, 0.05634482204914093, 0.06354799121618271, 0.006923025008291006, 0.004046138375997543, 0.05189523845911026, 0.04611947387456894, 0.011228027753531933, 0.003984440583735704, 0.05699149891734123, 0.06497663259506226, 0.007985318079590797, 0.004096328280866146, 0.011341155506670475, 0.02888994663953781, 0.051277272403240204, 0.0066930437460541725, 0.0034298673272132874, 4.43918514251709, 1.7781461477279663, 1.9199085235595703, 1.692787528038025, 0.32414257526397705, 0.8106973767280579, 0.5577762126922607, 0.6448830962181091, 1.3272513151168823, 0.5691446661949158, 0.4121438264846802, 0.17285189032554626, 1.0429989099502563, 0.12271951884031296, 0.42602401971817017, 0.10331451892852783, 0.13691869378089905, 0.19773826003074646, 0.03064759075641632, 0.008429802022874355, 0.06028623506426811, 0.10893948376178741, 0.02557895891368389, 0.009756802581250668, 0.015640119090676308, 0.10743609815835953, 0.1225803941488266, 0.03610967844724655, 0.010336938314139843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2298]}, "observation.state.tcp": {"min": [0.3618246018886566, 0.19247229397296906, 0.958466112613678, -1.2602962255477905, 1.218039631843567, -1.7578456401824951, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26847660541534424, -0.2483908087015152, 0.9649587869644165, -0.8231756687164307, 1.217747688293457, 0.4769093096256256, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42246657609939575, 0.2634623348712921, 1.052912950515747, -0.9770726561546326, 2.1799936294555664, -1.229220986366272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4568496346473694, -0.04908154159784317, 1.136405348777771, 1.208863377571106, 2.0415024757385254, 1.6770306825637817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40028834342956543, 0.24621860682964325, 0.9855940937995911, -1.1356395483016968, 1.9638395309448242, -1.5122060775756836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3889000117778778, -0.13966207206249237, 1.0545071363449097, -0.3499729633331299, 1.7624555826187134, 0.6911653876304626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007784001994878054, 0.006867879070341587, 0.017147472128272057, 0.038417741656303406, 0.19064675271511078, 0.0692615732550621, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05434111878275871, 0.0490475669503212, 0.04450944438576698, 0.35286837816238403, 0.15778979659080505, 0.1894194483757019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2298]}, "action": {"min": [1.050230860710144, -0.7799221873283386, -0.22376494109630585, 1.0707721710205078, -0.04352670535445213, -0.7687407732009888, 0.08461648225784302, 0.0, 0.0, -0.2643677294254303, 0.0, 0.0, 0.0, -0.051669567823410034, 0.0, 0.0, 0.0, -0.09183500707149506, 0.0, 0.0, 0.0, -0.10642281919717789, 0.0, 0.0, 0.0, 0.0, -0.05045325309038162, 0.0, 0.0, 1.0499999523162842, -1.0278278589248657, -0.24256058037281036, 1.0500233173370361, -1.7526698112487793, -0.7699999809265137, -0.2205016165971756, 0.0, -0.1451079100370407, -0.18900351226329803, -0.21850654482841492, 0.0, 0.0, -0.09442991763353348, 0.0, 0.0, 0.0, -0.10219032317399979, 0.0, 0.0, 0.0, -0.1512603759765625, 0.0, 0.0, 0.0, 0.0, -0.17151738703250885, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440846085548401, -0.0007955962209962308, -1.2293698091525584e-05, -0.01616075448691845, -0.8259319067001343], "max": [1.2590574026107788, -0.6946313381195068, -0.0006164401420392096, 1.5691399574279785, 0.17473170161247253, 0.3447614908218384, 0.7236230969429016, 1.4438836574554443, 0.29339852929115295, 0.0, 0.2772828936576843, 0.6429354548454285, 0.4906753897666931, 0.1478455811738968, 0.04239381477236748, 0.041271861642599106, 0.43321025371551514, 0.23683753609657288, 0.05436531826853752, 0.04398724064230919, 0.19939760863780975, 0.25666582584381104, 0.03197353705763817, 0.027934864163398743, 0.26180002093315125, 0.09795313328504562, 0.254550963640213, 0.020195184275507927, 0.019186006858944893, 1.4154794216156006, -0.32619374990463257, 0.0, 1.8052786588668823, 0.19074158370494843, 0.04435672610998154, 0.8668055534362793, 1.4467828273773193, 0.2930273711681366, 0.2775544226169586, 0.2512679100036621, 0.43548494577407837, 1.1714311838150024, 0.15260109305381775, 0.3996296525001526, 0.6160427927970886, 1.5014169216156006, 0.22850649058818817, 1.277208924293518, 0.59621661901474, 1.4722288846969604, 0.25677356123924255, 1.4491451978683472, 0.9203338623046875, 0.16157372295856476, 1.3771963119506836, 0.26579177379608154, 1.4819941520690918, 1.4095690250396729, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 7.560240805687727e-20, 1.1187511518073734e-05, 0.07883691042661667, -0.6000000238418579], "mean": [1.1558196544647217, -0.7155689001083374, -0.22061581909656525, 1.1201062202453613, -0.040643539279699326, 0.22267207503318787, 0.2241927832365036, 1.3809995651245117, 0.28676164150238037, -0.10240829735994339, 0.16901640594005585, 0.5807375311851501, 0.453726589679718, 0.13448257744312286, 0.039869215339422226, 0.03899262100458145, 0.37613505125045776, 0.21184302866458893, 0.048723526298999786, 0.04005035012960434, 0.15861541032791138, 0.22365498542785645, 0.027183787897229195, 0.023902498185634613, 0.07566680014133453, 0.06570034474134445, 0.2272944152355194, 0.014382545836269855, 0.013841938227415085, 1.2739291191101074, -0.634168803691864, -0.2327764481306076, 1.3570473194122314, -1.404013991355896, -0.24295689165592194, -0.009076610207557678, 1.2989109754562378, 0.0821734294295311, 0.014945642091333866, -0.0831519216299057, 0.15754255652427673, 0.8675862550735474, 0.08218542486429214, 0.11834480613470078, 0.24295742809772491, 1.2372753620147705, -0.04248347505927086, 1.1193537712097168, 0.1892067939043045, 1.3417909145355225, -0.10521655529737473, 1.2480915784835815, 0.4752650260925293, 0.046663783490657806, 1.2831263542175293, -0.12517325580120087, 0.9386659860610962, 1.3135275840759277, 0.5626958608627319, -1.106858730316162, 0.5441716909408569, -0.00047618403914384544, -3.649198632160733e-08, 0.041201233863830566, -0.7374230623245239], "std": [0.02627328783273697, 0.014862488955259323, 0.02180117554962635, 0.059962205588817596, 0.017286641523241997, 0.16435569524765015, 0.12541578710079193, 0.16125476360321045, 0.036810725927352905, 0.04499754309654236, 0.02782750502228737, 0.07601767778396606, 0.06909742206335068, 0.02407624013721943, 0.005715964827686548, 0.005550486966967583, 0.07601125538349152, 0.04065657779574394, 0.009462984278798103, 0.0077513037249445915, 0.03968311473727226, 0.04636487364768982, 0.006045693531632423, 0.005285758059471846, 0.031930599361658096, 0.019312085583806038, 0.04291309043765068, 0.003862790297716856, 0.0036836343351751566, 0.10063455998897552, 0.16479647159576416, 0.02546604722738266, 0.18655593693256378, 0.34863874316215515, 0.13168926537036896, 0.16170938313007355, 0.18440650403499603, 0.07699643075466156, 0.09121377766132355, 0.08871739357709885, 0.11607018858194351, 0.23726001381874084, 0.037605781108140945, 0.08449266105890274, 0.16907663643360138, 0.240550696849823, 0.03381436690688133, 0.24167539179325104, 0.08901730924844742, 0.2649867534637451, 0.04857458174228668, 0.26975008845329285, 0.14039380848407745, 0.01851218193769455, 0.25825533270835876, 0.05176301673054695, 0.2544534504413605, 0.2830468714237213, 1.2439238162187394e-05, 6.151875822979491e-06, 1.6924146621022373e-05, 0.00010904201189987361, 4.231622369843535e-06, 0.021281829103827477, 0.04222613200545311], "count": [2298]}, "observation.state.tcp_pose": {"min": [0.3618246018886566, 0.19247229397296906, 0.958466112613678, -1.2602962255477905, 1.218039631843567, -1.7578456401824951, 0.26847660541534424, -0.2483908087015152, 0.9649587869644165, -0.8231756687164307, 1.217747688293457, 0.4769093096256256], "max": [0.42246657609939575, 0.2634623348712921, 1.052912950515747, -0.9770726561546326, 2.1799936294555664, -1.229220986366272, 0.4568496346473694, -0.04908154159784317, 1.136405348777771, 1.208863377571106, 2.0415024757385254, 1.6770306825637817], "mean": [0.40028834342956543, 0.24621860682964325, 0.9855940937995911, -1.1356395483016968, 1.9638395309448242, -1.5122060775756836, 0.3889000117778778, -0.13966207206249237, 1.0545071363449097, -0.3499729633331299, 1.7624555826187134, 0.6911653876304626], "std": [0.007784001994878054, 0.006867879070341587, 0.017147472128272057, 0.038417741656303406, 0.19064675271511078, 0.0692615732550621, 0.05434111878275871, 0.0490475669503212, 0.04450944438576698, 0.35286837816238403, 0.15778979659080505, 0.1894194483757019], "count": [2298]}, "action.tcp_pose": {"min": [0.36192646622657776, 0.19253674149513245, 0.958412766456604, -1.258399486541748, 1.2183372974395752, -1.7578864097595215, 0.2684207260608673, -0.25008565187454224, 0.9649267196655273, -0.823346734046936, 1.1865595579147339, 0.4770801365375519], "max": [0.4223698377609253, 0.2634487748146057, 1.0529887676239014, -0.9642981290817261, 2.180063247680664, -1.2292927503585815, 0.4568638205528259, -0.04903364181518555, 1.1374711990356445, 1.2088515758514404, 2.041738271713257, 1.7007914781570435], "mean": [0.40032440423965454, 0.24622417986392975, 0.9856045246124268, -1.135391116142273, 1.9634885787963867, -1.5125046968460083, 0.38901394605636597, -0.13981612026691437, 1.0549758672714233, -0.35083869099617004, 1.7604337930679321, 0.691410481929779], "std": [0.007780676241964102, 0.006837847642600536, 0.017248664051294327, 0.0385645367205143, 0.1911378651857376, 0.06904973834753036, 0.05430379509925842, 0.04921949654817581, 0.04460030421614647, 0.3504461646080017, 0.1614067405462265, 0.19146278500556946], "count": [2298]}, "subtask_index": {"min": [50], "max": [1141], "mean": [1033.3076588337685], "std": [267.966941543757], "count": [2298]}, "observation.tactile": {"min": [-0.009181168861687183, -4.2188650695607066e-05, -9.254309406969696e-05, -0.0008487340528517962, -4.081765655428171e-05, -0.00015588861424475908, -0.0052646975964307785, -4.147065556026064e-05, -8.845102274790406e-05, -0.0004286646144464612, -1.7436321286368184e-05, -0.00012401161075104028, -0.007315048016607761, -4.666978566092439e-05, -0.00010379256855230778, -0.0007940480136312544, -4.006927338195965e-05, -0.00016292024520225823, -0.011274161748588085, -3.3535983675392345e-05, -7.413401908706874e-05, -0.0009045060141943395, -2.1104007828398608e-05, -0.000236223335377872, -0.008041980676352978, -4.572154284687713e-05, -0.00010138415382243693, -0.0010559388902038336, -1.0774369002319872e-05, -0.00018962057947646827, -3.2636170387268066, -3.757060767384246e-05, -8.670885290484875e-05, -0.1771770715713501, -0.002192457439377904, -0.06468617171049118, -6.506662368774414, -0.40264275670051575, -0.00011377583723515272, -0.2287822961807251, -0.02058575674891472, -0.06386313587427139, -2.4037487506866455, -4.759425428346731e-05, -0.021030303090810776, -0.010313267819583416, -0.0048072501085698605, -0.030579350888729095, -0.01625514030456543, -5.537083052331582e-05, -0.00012489169603213668, -0.0012530507519841194, -8.057294326135889e-05, -0.0003122305206488818, -0.007935583591461182, -4.060949868289754e-05, -9.155699808616191e-05, -0.0013878163881599903, -9.132839477388188e-05, -0.00017002425738610327], "max": [0.008249204605817795, 0.01731114089488983, 0.048100512474775314, 1.7395225313521223e-06, 0.0002798504428938031, 6.29396308795549e-05, 0.006023896858096123, 0.00794526282697916, 0.023762455210089684, 1.5100489463293343e-06, 0.000126617043861188, 6.141222547739744e-05, 0.0011465272400528193, 0.013717024587094784, 0.038981370627880096, 1.9393414731894154e-06, 8.148216875270009e-05, 1.0553824722592253e-05, 0.0056791482493281364, 0.01723603531718254, 0.049434829503297806, 1.3876731372874929e-06, 0.00023332558339461684, 3.058197398786433e-05, 0.004675473552197218, 0.017816539853811264, 0.050406165421009064, 1.8708574316406157e-06, 0.00015730992890894413, 2.5614461264922284e-05, 6.033834457397461, 8.283479690551758, 10.070545196533203, 1.5987998267519288e-06, 0.0373242050409317, 0.09318779408931732, 1.4690289497375488, 10.804311752319336, 13.446115493774414, 2.1576747712970246e-06, 0.009790251031517982, 0.037786491215229034, 0.007865812629461288, 0.7291913032531738, 0.6995506882667542, 0.0008585065952502191, 0.003906544763594866, 8.038071973714978e-05, 0.003956527914851904, 0.021333863958716393, 0.06130389869213104, 2.2811664166511036e-06, 0.00024849327746778727, 1.1287202141829766e-05, 0.0018182129133492708, 0.022140858694911003, 0.06170987710356712, 1.7045213098754175e-06, 0.00012648453412111849, 9.544302884023637e-06], "mean": [-6.490403757197782e-05, 0.001548752305097878, 0.004545206669718027, -6.753523484803736e-05, 1.2852598047174979e-05, -3.854705028061289e-06, 0.00016472778224851936, 0.00020823987142648548, 0.0006479361327365041, -1.0296719665348064e-05, -1.1594080433496856e-06, 3.379200961717288e-06, 9.956370195141062e-05, 0.00040992858703248203, 0.0012148863170295954, -1.9877312297467142e-05, -1.2616986850844114e-06, 3.0921653433324536e-06, -4.169694511801936e-05, 0.001034650718793273, 0.0030405784491449594, -4.981342499377206e-05, 7.404084954032442e-06, -1.8557781231720583e-06, 0.00019200853421352804, 0.00024314335314556956, 0.0007289385539479554, -1.288250587094808e-05, 5.454339202515257e-07, 3.5749376365856733e-06, 1.6278668642044067, 1.7239221334457397, 3.149935245513916, -0.06022752821445465, 0.007431871257722378, 0.025751961395144463, -1.0221723318099976, 0.8248986601829529, 4.371506214141846, -0.06800808012485504, -0.0013919027987867594, -0.016344338655471802, -0.06795822083950043, 0.013829314149916172, 0.021224120631814003, -0.00030643181526102126, 4.7693192755104974e-05, -0.000853530305903405, -0.0003216298355255276, 0.0016293722437694669, 0.004814918152987957, -9.703994874143973e-05, 4.260688456270145e-06, -8.239391718234401e-06, -0.0014891509199514985, 0.004478887654840946, 0.012741370126605034, -0.00028309645131230354, -6.904451765876729e-06, -3.1387724447995424e-05], "std": [0.0008808490238152444, 0.0027330731973052025, 0.00785103440284729, 0.00012462765153031796, 3.6121771699981764e-05, 1.6754742318880744e-05, 0.0003575580194592476, 0.000807311269454658, 0.002375940792262554, 3.882580858771689e-05, 4.467108738026582e-06, 6.965812644921243e-06, 0.0006467010825872421, 0.0012183731887489557, 0.003537690034136176, 6.118338205851614e-05, 6.182646302477224e-06, 1.138115294452291e-05, 0.0007419971516355872, 0.0021662497892975807, 0.006356094032526016, 0.00011091413762187585, 2.8785007089027204e-05, 1.3949316780781373e-05, 0.0006315505015663803, 0.0012359366519376636, 0.0035618827678263187, 7.021115015959367e-05, 9.160376066574827e-06, 1.4888308214722201e-05, 1.9776372909545898, 1.984497308731079, 3.3836817741394043, 0.06501097232103348, 0.00854949839413166, 0.031843628734350204, 1.2897464036941528, 1.2880994081497192, 4.882133960723877, 0.07569888234138489, 0.004445398226380348, 0.021435702219605446, 0.29926276206970215, 0.05737293139100075, 0.05858604982495308, 0.0008667978690937161, 0.0005321266944520175, 0.0036935426760464907, 0.0016121346270665526, 0.003062089439481497, 0.00895676575601101, 0.00018921875744126737, 2.306729948031716e-05, 3.213683521607891e-05, 0.0016273707151412964, 0.004570618737488985, 0.012980112805962563, 0.0002883401175495237, 2.3103282728698105e-05, 3.255011324654333e-05], "count": [2298]}, "timestamp": {"min": [0.0], "max": [76.56666666666666], "mean": [38.28333333333334], "std": [22.112513216293184], "count": [2298]}, "frame_index": {"min": [0], "max": [2297], "mean": [1148.5], "std": [663.3753964887956], "count": [2298]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [2298]}, "index": {"min": [49123], "max": [51420], "mean": [50271.5], "std": [663.3753964887956], "count": [2298]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2298]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.007843137718737125]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5748592615127563]], [[0.5751530528068542]], [[0.575162947177887]]], "std": [[[0.2998928427696228]], [[0.29940325021743774]], [[0.3001154959201813]]], "count": [2298]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30641064047813416]], [[0.30893340706825256]], [[0.30715325474739075]]], "std": [[[0.18277692794799805]], [[0.1829276829957962]], [[0.18280598521232605]]], "count": [2298]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3086550831794739]], [[0.311585009098053]], [[0.30848658084869385]]], "std": [[[0.18213368952274323]], [[0.18152663111686707]], [[0.18045547604560852]]], "count": [2298]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573415219783783]], [[0.57342129945755]], [[0.5731188058853149]]], "std": [[[0.30335819721221924]], [[0.30315473675727844]], [[0.30411818623542786]]], "count": [2298]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.615686297416687]], [[0.615686297416687]], [[0.615686297416687]]], "mean": [[[0.00289425952360034]], [[0.00289425952360034]], [[0.00289425952360034]]], "std": [[[0.032992172986269]], [[0.032992172986269]], [[0.032992172986269]]], "count": [2298]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4902627766132355]], [[0.4902627766132355]], [[0.4902627766132355]]], "std": [[[0.22131478786468506]], [[0.22131478786468506]], [[0.22131478786468506]]], "count": [2298]}}}
+{"episode_index": 22, "stats": {"observation.state": {"min": [1.0508595705032349, -0.8308832049369812, -0.22348721325397491, 1.0881543159484863, -0.14515016973018646, -0.7679874897003174, 0.05834795534610748, 0.006919567938894033, -0.0002889024035539478, -0.24979223310947418, 8.712580893188715e-05, 0.0034910261165350676, 0.0036522375885397196, -0.06910304725170135, 0.003496344666928053, 0.0008407297427766025, -0.0034044706262648106, -0.10950358957052231, 0.003053495427593589, 0.00083496532170102, -0.003228825516998768, -0.026945555582642555, 0.0027389980386942625, 0.0008509285398758948, 0.005817343946546316, -0.002984235528856516, -0.020889483392238617, 0.002306076930835843, 0.0008566930191591382, 1.0507925748825073, -1.0920815467834473, -0.24264688789844513, 1.073574423789978, -1.7511658668518066, -0.7686970829963684, -0.37560945749282837, 0.005469996482133865, -0.17756521701812744, -0.196567103266716, -0.16704510152339935, 0.0032463776879012585, 0.005260026548057795, -0.08962897211313248, 0.0035768302623182535, 0.0007963874959386885, -0.0016075457679107785, -0.11092199385166168, 0.0030049204360693693, 0.0008691088296473026, -0.0022178860381245613, -0.15967008471488953, 0.0035637114197015762, 0.0008668916998431087, 0.0067357029765844345, -0.0016593055333942175, -0.18759740889072418, 0.005584010388702154, 0.0008633443503640592, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.00047936898772604764, -9.58738019107841e-05, -0.03298058733344078, -0.7498289942741394], "max": [1.2492187023162842, -0.6073642373085022, -0.0016437562881037593, 1.5683966875076294, 0.17425625026226044, 0.40492600202560425, 0.698175311088562, 1.3979527950286865, 0.2968897521495819, 0.007717449218034744, 0.2538541853427887, 0.5659982562065125, 0.44037628173828125, 0.15440639853477478, 0.03381076082587242, 0.03613453358411789, 0.4900052845478058, 0.27327144145965576, 0.061019912362098694, 0.045470356941223145, 0.175620436668396, 0.2771834433078766, 0.0186553243547678, 0.022407490760087967, 0.24106493592262268, 0.1175067201256752, 0.2849559783935547, 0.018789350986480713, 0.01998506858944893, 1.4215505123138428, -0.3509950339794159, -0.0012227505212649703, 1.79753577709198, 0.12370464950799942, 0.01307646743953228, 0.5735034346580505, 1.396079421043396, 0.25782644748687744, 0.5072004199028015, 0.2886054515838623, 0.4219578206539154, 1.1337000131607056, 0.11998439580202103, 0.5812849402427673, 0.3359886109828949, 1.3240635395050049, 0.16428369283676147, 1.3466609716415405, 0.48576533794403076, 1.4401110410690308, 0.19054731726646423, 1.506579875946045, 1.0360668897628784, 0.24196510016918182, 1.386352777481079, 0.20587575435638428, 1.4992071390151978, 1.3081936836242676, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.07094661146402359, -0.5851178169250488], "mean": [1.1393274068832397, -0.7056547999382019, -0.220598042011261, 1.1771199703216553, -0.049471210688352585, 0.2646311819553375, 0.2374611496925354, 1.341587781906128, 0.28919717669487, -0.06472206115722656, 0.14388695359230042, 0.5492311120033264, 0.33716174960136414, 0.12030733376741409, 0.02726929262280464, 0.0280937310308218, 0.28539779782295227, 0.20444533228874207, 0.038702886551618576, 0.02911902591586113, 0.07437996566295624, 0.21035243570804596, 0.011783245950937271, 0.00968205463141203, 0.17435649037361145, 0.043233130127191544, 0.24847224354743958, 0.009679315611720085, 0.008586741052567959, 1.2935014963150024, -0.6328713297843933, -0.23310817778110504, 1.375227451324463, -1.4209182262420654, -0.2510477900505066, -0.11522634327411652, 1.264225721359253, -0.04893694072961807, 0.21435511112213135, 0.0422479584813118, 0.12084190547466278, 0.8826906681060791, 0.054508455097675323, 0.17190556228160858, 0.1451585739850998, 1.2393319606781006, -0.07078781723976135, 1.1407197713851929, 0.21797890961170197, 1.3490209579467773, -0.12354978919029236, 1.2621703147888184, 0.6467186808586121, 0.02991112880408764, 1.2820138931274414, -0.1417234092950821, 1.0048638582229614, 1.250541090965271, 0.5626938343048096, -1.1068567037582397, 0.5441107749938965, -0.0001528958964627236, -1.0781312766994233e-06, 0.030612286180257797, -0.6867919564247131], "std": [0.04440673068165779, 0.029024075716733932, 0.021318204700946808, 0.06910602748394012, 0.06201348081231117, 0.16208162903785706, 0.11132634431123734, 0.13918504118919373, 0.03329449146986008, 0.05486311763525009, 0.025904811918735504, 0.06235986948013306, 0.07172776758670807, 0.032035645097494125, 0.004006435163319111, 0.004236762877553701, 0.17235608398914337, 0.06153295934200287, 0.021346410736441612, 0.013807229697704315, 0.07579448819160461, 0.06322028487920761, 0.00557810440659523, 0.008593417704105377, 0.07252292335033417, 0.04761313274502754, 0.050447095185518265, 0.004221832845360041, 0.007656994741410017, 0.1029742881655693, 0.16496261954307556, 0.023852311074733734, 0.17669826745986938, 0.31871724128723145, 0.13406233489513397, 0.16151869297027588, 0.1699771136045456, 0.08134490251541138, 0.17268307507038116, 0.08247237652540207, 0.08839945495128632, 0.20302823185920715, 0.029827000573277473, 0.1317717730998993, 0.07372269034385681, 0.233909010887146, 0.027082419022917747, 0.24249815940856934, 0.06364399194717407, 0.26146894693374634, 0.041007064282894135, 0.27189040184020996, 0.21507136523723602, 0.028170762583613396, 0.25111716985702515, 0.04776093736290932, 0.241118922829628, 0.25862857699394226, 2.6860176149057224e-05, 2.4990024030557834e-05, 5.035767026129179e-05, 0.0003382427094038576, 1.1525135960255284e-05, 0.021511418744921684, 0.028749924153089523], "count": [2401]}, "observation.state.joint_torque": {"min": [-34.25400161743164, -21.529499053955078, -19.96500015258789, -16.534000396728516, -1.0959999561309814, -3.4384000301361084, -0.47679999470710754, -0.6253019571304321, -0.3171083629131317, -0.6163740158081055, -0.32682737708091736, -0.07803203910589218, -0.3981776833534241, -0.722476601600647, -0.07471152395009995, -0.04066966846585274, -0.4096912145614624, -0.4048939049243927, -0.1328205019235611, -0.032821137458086014, -0.2724878489971161, -0.4096912443637848, -0.10791664570569992, -0.03139413148164749, -0.1024736538529396, -0.21587945520877838, -0.4595833718776703, -0.11123716086149216, -0.03068062849342823, 7.231500148773193, -14.641500473022461, -2.312000036239624, -10.857999801635742, -2.9504001140594482, -4.605599880218506, -4.05679988861084, -1.4963947534561157, -0.7641165256500244, -0.5803360342979431, -1.3632303476333618, -0.11953844130039215, -0.7618145942687988, -0.92012619972229, -0.12783971428871155, -0.06207476183772087, -1.3115875720977783, -1.0803567171096802, -0.36857688426971436, -0.02996712550520897, -0.780044436454773, -0.3741910457611084, -0.42004477977752686, -0.05351272225379944, -0.11742688715457916, -0.5689622759819031, -0.4595833718776703, -0.21583329141139984, -0.09132837504148483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.18400001525879, 18.239999771118164, -8.079000473022461, 7.427000045776367, 2.3224000930786133, 1.3087999820709229, 2.7720000743865967, 0.2547055184841156, 0.19739675521850586, 0.38771915435791016, 0.4076021909713745, 0.07637178897857666, 0.3473260700702667, 0.3434881865978241, 0.08135254681110382, 0.014983562752604485, 0.3358124792575836, 0.36363694071769714, 0.15772433578968048, 0.014983562752604485, 0.3147042691707611, 0.4355967938899994, 0.08965382725000381, 0.016410568729043007, 0.05365573614835739, 0.4432724416255951, 0.6255706548690796, 0.10127562284469604, 0.014270060695707798, 36.4739990234375, 16.055999755859375, 20.5, 4.098999977111816, 0.2639999985694885, 3.0392000675201416, 0.20720000565052032, 2.8603427410125732, 4.7095046043396, 2.292762279510498, 1.467616319656372, 0.6491602063179016, 2.152078151702881, 0.851044774055481, 1.0575830936431885, 0.2169049084186554, 0.47205638885498047, 0.24274444580078125, 0.10127562284469604, 0.022118592634797096, 0.32333946228027344, 0.46725907921791077, 0.0979551151394844, 0.022832093760371208, 0.11874628812074661, 0.48452943563461304, 0.4144885241985321, 0.12451920658349991, 0.06635577231645584, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.03145408630371, 2.530413866043091, -12.964879035949707, -2.055779457092285, -0.5838169455528259, -0.4887104630470276, 1.579789400100708, -0.0005770933348685503, -0.0031273323111236095, 0.047135885804891586, 0.01007660012692213, 0.0020004704128950834, 0.015132345259189606, 0.017493359744548798, 0.0009791438933461905, 0.00016879185568541288, 0.022037019953131676, 0.007396768778562546, 0.0025820089504122734, 0.00024962163297459483, 0.037501122802495956, 0.04698540270328522, 0.0018386606825515628, -0.0014356225728988647, -0.0040166438557207584, 0.011328151449561119, 0.02549844980239868, 0.00046398647828027606, -0.0004103907267563045, 27.06997299194336, 0.7058042883872986, 13.242915153503418, -1.97525155544281, -0.6197084784507751, 1.5028764009475708, -0.7675424814224243, 0.15580470860004425, 1.1500552892684937, 0.39178621768951416, 0.2042255699634552, 0.13176628947257996, 1.0262202024459839, -0.002050000475719571, 0.40664926171302795, 0.10678193718194962, -0.06919615715742111, -0.1396586000919342, 0.0023662608582526445, 0.00020890966698061675, 0.006603958085179329, -0.011085194535553455, -0.002035730052739382, -0.002088800072669983, -0.003149864263832569, 0.008768663741648197, -0.008203595876693726, -0.011895626783370972, 0.0012522757751867175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8416972756385803, 1.0738139152526855, 0.8136740922927856, 0.7467241883277893, 0.3299180865287781, 0.4191267192363739, 0.23488032817840576, 0.036128610372543335, 0.024855971336364746, 0.061351750046014786, 0.059271760284900665, 0.010294669307768345, 0.05956900864839554, 0.06164199858903885, 0.007682900410145521, 0.004062551073729992, 0.0511823371052742, 0.04680564999580383, 0.01553850807249546, 0.005022821482270956, 0.05369765684008598, 0.07047146558761597, 0.010939305648207664, 0.0060002123937010765, 0.013183845207095146, 0.0386129692196846, 0.06514377146959305, 0.007336830720305443, 0.0037899084854871035, 4.141745567321777, 1.7762343883514404, 1.631829023361206, 1.6890703439712524, 0.3001805543899536, 0.7057738304138184, 0.4529111087322235, 0.5687280893325806, 1.4556448459625244, 0.5721645355224609, 0.3734982907772064, 0.1589103490114212, 1.0281672477722168, 0.1598494052886963, 0.43652480840682983, 0.10422736406326294, 0.20751003921031952, 0.188591867685318, 0.025036131963133812, 0.007914158515632153, 0.059836246073246, 0.05886007100343704, 0.026485031470656395, 0.009627382270991802, 0.016258085146546364, 0.11002478003501892, 0.08481797575950623, 0.0368928425014019, 0.011434733867645264, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2401]}, "observation.state.tcp": {"min": [0.35820040106773376, 0.18560738861560822, 0.9406391978263855, -1.255827784538269, 1.2202341556549072, -1.8019055128097534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2746443748474121, -0.2715839445590973, 0.9728370904922485, -0.8296342492103577, 1.2191307544708252, 0.40581777691841125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4073639214038849, 0.23895177245140076, 1.0515443086624146, -0.9046974778175354, 2.2478017807006836, -1.228466510772705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46111196279525757, -0.04830167815089226, 1.1319973468780518, 1.2183034420013428, 2.106468915939331, 1.6218392848968506, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.384270578622818, 0.21860116720199585, 0.9807547926902771, -1.1014066934585571, 2.0266335010528564, -1.6211858987808228, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3928672969341278, -0.13914762437343597, 1.064195156097412, -0.3097759783267975, 1.7621856927871704, 0.6040406227111816, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011080469004809856, 0.00728187058120966, 0.026953039690852165, 0.0688391923904419, 0.19549784064292908, 0.05112108588218689, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05287163704633713, 0.05040324851870537, 0.044530998915433884, 0.31179189682006836, 0.1548253297805786, 0.18564365804195404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2401]}, "action": {"min": [1.0510518550872803, -0.8312214016914368, -0.22348183393478394, 1.0880175828933716, -0.14702029526233673, -0.7669697403907776, 0.05828651785850525, 0.0, 0.0, -0.25073695182800293, 0.0, 0.0, 0.0, -0.07333425432443619, 0.0, 0.0, 0.0, -0.11816944181919098, 0.0, 0.0, 0.0, -0.14146552979946136, 0.0, 0.0, 0.0, 0.0, -0.04443806782364845, 0.0, 0.0, 1.0499999523162842, -1.0920956134796143, -0.24264797568321228, 1.0735374689102173, -1.7511630058288574, -0.7699998021125793, -0.3756078779697418, 0.0, -0.18111801147460938, -0.19888219237327576, -0.16841626167297363, 0.0, 0.0, -0.11802970618009567, 0.0, 0.0, 0.0, -0.11659713089466095, 0.0, 0.0, 0.0, -0.16711457073688507, 0.0, 0.0, 0.0, 0.0, -0.18703272938728333, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5439839959144592, -0.00042286040843464434, -0.00011685040226439014, -0.033056676387786865, -0.7497327327728271], "max": [1.2494314908981323, -0.6073694229125977, -0.0014122959692031145, 1.5685696601867676, 0.17441779375076294, 0.40502575039863586, 0.7435739040374756, 1.4100598096847534, 0.29495787620544434, 0.012413295917212963, 0.27321380376815796, 0.5697286128997803, 0.44770047068595886, 0.16013453900814056, 0.03821595013141632, 0.03791879117488861, 0.49420005083084106, 0.27513816952705383, 0.06447633355855942, 0.047061096876859665, 0.1801152378320694, 0.28227654099464417, 0.024980315938591957, 0.023790763691067696, 0.26180002093315125, 0.12248044461011887, 0.28766316175460815, 0.023788101971149445, 0.021654093638062477, 1.4215471744537354, -0.35096555948257446, -5.858928986413048e-08, 1.7975820302963257, 0.12367864698171616, 0.013271356001496315, 0.5774206519126892, 1.3997282981872559, 0.27940496802330017, 0.5066192150115967, 0.290683776140213, 0.42838335037231445, 1.2280645370483398, 0.12040149420499802, 0.5875738263130188, 0.37486758828163147, 1.4838049411773682, 0.20197591185569763, 1.3525395393371582, 0.5415547490119934, 1.479063868522644, 0.20542193949222565, 1.513095498085022, 1.038572907447815, 0.26180002093315125, 1.3926681280136108, 0.24161453545093536, 1.5048600435256958, 1.4588261842727661, 0.5626999735832214, -1.106863021850586, 0.5442190766334534, 0.0004227544995956123, 4.668090696213767e-05, 0.07333950698375702, -0.5853437781333923], "mean": [1.1393846273422241, -0.7057094573974609, -0.22060979902744293, 1.1771498918533325, -0.04967852309346199, 0.26452383399009705, 0.23788750171661377, 1.3451390266418457, 0.28847071528434753, -0.0600409209728241, 0.14529161155223846, 0.5548097491264343, 0.34059563279151917, 0.12358056753873825, 0.03208392858505249, 0.03177536651492119, 0.289077490568161, 0.20830930769443512, 0.04086049273610115, 0.03179307281970978, 0.0772160142660141, 0.2158350795507431, 0.011677841655910015, 0.011094614863395691, 0.18334098160266876, 0.045347485691308975, 0.25509360432624817, 0.009162613190710545, 0.008713112212717533, 1.2944797277450562, -0.6335175633430481, -0.233143612742424, 1.375622272491455, -1.4207134246826172, -0.2512529194355011, -0.11498015373945236, 1.2650824785232544, -0.04619588702917099, 0.21487115323543549, 0.043036993592977524, 0.12135741114616394, 0.9249812364578247, 0.0442984402179718, 0.175320565700531, 0.18759067356586456, 1.2413225173950195, -0.07084178179502487, 1.142552375793457, 0.21882230043411255, 1.3519158363342285, -0.12419138103723526, 1.2635871171951294, 0.6482261419296265, 0.03155112266540527, 1.2836980819702148, -0.14270153641700745, 1.0058836936950684, 1.3454220294952393, 0.5626975297927856, -1.10686194896698, 0.5441743731498718, -0.0001671102363616228, -2.7601831789070275e-06, 0.03064444661140442, -0.686837911605835], "std": [0.044397637248039246, 0.029137780889868736, 0.021280784159898758, 0.06913228332996368, 0.06172025948762894, 0.16217868030071259, 0.11219584196805954, 0.15328219532966614, 0.03595862537622452, 0.056393202394247055, 0.02885022573173046, 0.06914567202329636, 0.0736461952328682, 0.030583037063479424, 0.005326149985194206, 0.00532990088686347, 0.1764228343963623, 0.057875942438840866, 0.019558602944016457, 0.013951527886092663, 0.07877416908740997, 0.06300319731235504, 0.011030136607587337, 0.01052818913012743, 0.08411915600299835, 0.0490960031747818, 0.049451734870672226, 0.009792707860469818, 0.009304343722760677, 0.102872833609581, 0.16544575989246368, 0.023762309923768044, 0.17695502936840057, 0.31982776522636414, 0.1341460943222046, 0.16232042014598846, 0.17686200141906738, 0.08240730315446854, 0.1732497215270996, 0.08196575939655304, 0.08985485881567001, 0.2313864678144455, 0.0282333604991436, 0.13291364908218384, 0.10958395153284073, 0.22934558987617493, 0.028822507709264755, 0.2386484593153, 0.06514818221330643, 0.2553754150867462, 0.039680495858192444, 0.26735156774520874, 0.2144283950328827, 0.030682198703289032, 0.244847372174263, 0.04604195058345795, 0.23850660026073456, 0.2744646668434143, 1.4884308257023804e-05, 4.307961262384197e-06, 1.64481571118813e-05, 0.0003664636751636863, 1.3608039807877503e-05, 0.021558061242103577, 0.028775973245501518], "count": [2401]}, "observation.state.tcp_pose": {"min": [0.35820040106773376, 0.18560738861560822, 0.9406391978263855, -1.255827784538269, 1.2202341556549072, -1.8019055128097534, 0.2746443748474121, -0.2715839445590973, 0.9728370904922485, -0.8296342492103577, 1.2191307544708252, 0.40581777691841125], "max": [0.4073639214038849, 0.23895177245140076, 1.0515443086624146, -0.9046974778175354, 2.2478017807006836, -1.228466510772705, 0.46111196279525757, -0.04830167815089226, 1.1319973468780518, 1.2183034420013428, 2.106468915939331, 1.6218392848968506], "mean": [0.384270578622818, 0.21860116720199585, 0.9807547926902771, -1.1014066934585571, 2.0266335010528564, -1.6211858987808228, 0.3928672969341278, -0.13914762437343597, 1.064195156097412, -0.3097759783267975, 1.7621856927871704, 0.6040406227111816], "std": [0.011080469004809856, 0.00728187058120966, 0.026953039690852165, 0.0688391923904419, 0.19549784064292908, 0.05112108588218689, 0.05287163704633713, 0.05040324851870537, 0.044530998915433884, 0.31179189682006836, 0.1548253297805786, 0.18564365804195404], "count": [2401]}, "action.tcp_pose": {"min": [0.35773736238479614, 0.18560253083705902, 0.9406227469444275, -1.253494381904602, 1.2194517850875854, -1.8005919456481934, 0.2747194468975067, -0.26971182227134705, 0.9728727340698242, -0.8297873139381409, 1.2178370952606201, 0.40585431456565857], "max": [0.4056476056575775, 0.23872259259223938, 1.051677942276001, -0.8805812001228333, 2.248210906982422, -1.2304189205169678, 0.46104705333709717, -0.04829104244709015, 1.1310347318649292, 1.2088515758514404, 2.106673002243042, 1.6179347038269043], "mean": [0.38429737091064453, 0.21862173080444336, 0.980778694152832, -1.1010240316390991, 2.0262420177459717, -1.6213452816009521, 0.39300060272216797, -0.1393510103225708, 1.064681053161621, -0.30960965156555176, 1.760678768157959, 0.6043657064437866], "std": [0.011073644272983074, 0.007277493830770254, 0.02699989080429077, 0.06896688044071198, 0.1960250586271286, 0.05120600014925003, 0.052843086421489716, 0.050564464181661606, 0.04464712366461754, 0.31220272183418274, 0.15620644390583038, 0.18704421818256378], "count": [2401]}, "subtask_index": {"min": [50], "max": [1190], "mean": [1139.3606830487297], "std": [176.46656576583024], "count": [2401]}, "observation.tactile": {"min": [-0.011259453371167183, -4.4888383854413405e-05, -9.917799616232514e-05, -0.0012799818068742752, -6.146999658085406e-05, -0.000210717465961352, -0.004485595505684614, -4.620570325641893e-05, -0.000106698767922353, -0.00038149842293933034, -9.931377462635282e-06, -9.617477189749479e-05, -0.010134230367839336, -4.665548476623371e-05, -0.00010362075408920646, -0.0011905314167961478, -6.28488342044875e-05, -0.0002125014434568584, -0.020531214773654938, -3.5179342376068234e-05, -7.693916268181056e-05, -0.001324481563642621, -2.64508998952806e-05, -0.00043573728180490434, -0.48298537731170654, -4.6501783799612895e-05, -0.00010439996549393982, -0.023751752451062202, -0.0037756175734102726, -0.0077064428478479385, -3.0450243949890137, -3.8577753002755344e-05, -8.973958028946072e-05, -0.1948975771665573, -0.002074282383546233, -0.06405754387378693, -7.885370254516602, -0.5661146640777588, -9.737123036757112e-05, -0.24125470221042633, -0.018803881481289864, -0.10431768000125885, -0.6126327514648438, -4.896340033155866e-05, -0.00010938675404759124, -0.0045036314986646175, -0.002155660418793559, -0.009707970544695854, -0.021890444681048393, -5.5046199122443795e-05, -0.0001226081367349252, -0.0026907133869826794, -0.00011076885130023584, -0.00046400667633861303, -0.1311534345149994, -4.1628834878792986e-05, -9.274082549382001e-05, -0.0014824927784502506, -0.00026395125314593315, -0.002130272798240185], "max": [0.013981876894831657, 0.02364693395793438, 0.06851065903902054, 1.8530158740759362e-06, 0.0002906406589318067, 0.0001960195368155837, 0.0011121705174446106, 0.007641831878572702, 0.022863706573843956, 1.8317480225960026e-06, 0.00013369663793127984, 6.656941877736244e-06, 0.0177267137914896, 0.02216077409684658, 0.06286884844303131, 1.9344392967468593e-06, 0.000271820230409503, 0.00024432537611573935, 0.0026424871757626534, 0.02201845683157444, 0.06213248148560524, 1.427399638487259e-06, 0.00016675419465173036, 1.6400963431806304e-05, 0.010607286356389523, 0.861695408821106, 1.0581566095352173, 1.9451658772595692e-06, 0.00024094661057461053, 0.00013580299855675548, 6.3496856689453125, 10.93089771270752, 10.878216743469238, 1.6754556781961583e-06, 0.031331028789281845, 0.11550095677375793, 0.8761425018310547, 12.233759880065918, 14.00239086151123, 1.8302080206922255e-06, 0.012256985530257225, 0.013801182620227337, 0.0041257841512560844, 0.09286769479513168, 0.2629542946815491, 2.008015826504561e-06, 0.00022163537505548447, 1.8386754163657315e-05, 0.15122613310813904, 0.05051889643073082, 0.15698572993278503, 2.234579369542189e-06, 0.0009532248368486762, 0.0023942331317812204, 0.0025951717980206013, 0.02703845500946045, 0.06859886646270752, 1.7054724139597965e-06, 9.389907063450664e-05, 1.5062752936501056e-05], "mean": [-0.001063052797690034, 0.0028952383436262608, 0.008818956092000008, -0.00012777720985468477, 5.172090823180042e-06, -1.4074550563236699e-05, 0.00021240398928057402, 0.00013033061986789107, 0.0004004158254247159, -6.716355528624263e-06, -4.977768526259752e-07, 3.989941433246713e-06, -0.0006428317283280194, 0.003036681329831481, 0.008808789774775505, -0.000135105088702403, 2.725294052652316e-06, -1.1125763194286264e-05, -0.002261281479150057, 0.002840703586116433, 0.008335527963936329, -0.00016237303498201072, 1.3109423889545724e-05, -4.785903365700506e-05, -0.002677284413948655, 0.004150675609707832, 0.008154739625751972, -0.00015686247206758708, -1.1964584700763226e-05, -4.267060648999177e-05, 1.712365746498108, 2.242412805557251, 3.4588217735290527, -0.06790853291749954, 0.00784407090395689, 0.028621811419725418, -1.2946467399597168, 0.8691343069076538, 4.967001914978027, -0.0774104967713356, -0.0019103246740996838, -0.02075565792620182, -0.002202899195253849, 0.004729561973363161, 0.01403527706861496, -0.00030873995274305344, 1.1240401363465935e-05, -5.0134774937760085e-05, -0.0021886564791202545, 0.004904883448034525, 0.01438137050718069, -0.00029877841006964445, 6.249484613363165e-06, -4.8484511353308335e-05, -0.0022518408950418234, 0.004684215411543846, 0.013332303613424301, -0.0002778964990284294, -1.8840220946003683e-05, -3.9243244827957824e-05], "std": [0.0021707210689783096, 0.003425836330279708, 0.010260255075991154, 0.00016496324678882957, 3.504526466713287e-05, 3.062492760363966e-05, 0.00032202075817622244, 0.000601649924647063, 0.0017460931558161974, 2.9516551876440644e-05, 6.648394446528982e-06, 6.563968327100156e-06, 0.001539203803986311, 0.0039980714209377766, 0.011544134467840195, 0.0001954201579792425, 1.646083183004521e-05, 3.193351221852936e-05, 0.0035916566848754883, 0.004312734119594097, 0.012590817175805569, 0.00024996796855702996, 2.3440066797775216e-05, 7.540271326433867e-05, 0.027874751016497612, 0.038907140493392944, 0.052446965128183365, 0.0011778068728744984, 0.00018745145644061267, 0.00043218984501436353, 1.9226617813110352, 2.275552749633789, 3.3970882892608643, 0.06603652983903885, 0.00866360031068325, 0.03270251676440239, 1.5047887563705444, 1.273866057395935, 4.950216293334961, 0.07742030173540115, 0.004384602885693312, 0.02437061257660389, 0.015857817605137825, 0.005525785032659769, 0.0160130113363266, 0.0003423135494813323, 5.873217378393747e-05, 0.0002504359872546047, 0.005848689004778862, 0.005853608716279268, 0.01718837581574917, 0.0003576267044991255, 3.778445898205973e-05, 0.00010323204332962632, 0.005021501798182726, 0.003712557489052415, 0.010565944015979767, 0.00022283577709458768, 1.7344271327601746e-05, 8.10610072221607e-05], "count": [2401]}, "timestamp": {"min": [0.0], "max": [80.0], "mean": [40.0], "std": [23.103631268217942], "count": [2401]}, "frame_index": {"min": [0], "max": [2400], "mean": [1200.0], "std": [693.1089380465382], "count": [2401]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [2401]}, "index": {"min": [51421], "max": [53821], "mean": [52621.0], "std": [693.1089380465382], "count": [2401]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2401]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5668241381645203]], [[0.5670090913772583]], [[0.5672240853309631]]], "std": [[[0.29523205757141113]], [[0.29480308294296265]], [[0.2955922484397888]]], "count": [2401]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30480021238327026]], [[0.3068599998950958]], [[0.3057117462158203]]], "std": [[[0.18333019316196442]], [[0.18390530347824097]], [[0.1839587390422821]]], "count": [2401]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30911684036254883]], [[0.31188738346099854]], [[0.3084243834018707]]], "std": [[[0.18246044218540192]], [[0.18179194629192352]], [[0.1803129017353058]]], "count": [2401]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5662274956703186]], [[0.5661419630050659]], [[0.565989077091217]]], "std": [[[0.2998039126396179]], [[0.29969850182533264]], [[0.3007178008556366]]], "count": [2401]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6039215922355652]], [[0.6039215922355652]], [[0.6039215922355652]]], "mean": [[[0.003356076078489423]], [[0.003356076078489423]], [[0.003356076078489423]]], "std": [[[0.03551575168967247]], [[0.03551575168967247]], [[0.03551575168967247]]], "count": [2401]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48954853415489197]], [[0.48954853415489197]], [[0.48954853415489197]]], "std": [[[0.22109200060367584]], [[0.22109200060367584]], [[0.22109200060367584]]], "count": [2401]}}}
+{"episode_index": 23, "stats": {"observation.state": {"min": [1.0504086017608643, -0.84475177526474, -0.22511731088161469, 1.2746332883834839, 9.299758676206693e-05, -0.7684072852134705, 0.10167548060417175, 0.006908005103468895, -0.00022964047093410045, -0.25182074308395386, 0.00013826483336742967, 0.0035016629844903946, 0.0036380095407366753, -0.07183854281902313, 0.003486416768282652, 0.0008385126711800694, -0.003205767134204507, -0.11314135789871216, 0.003052786458283663, 0.0008043691050261259, -0.0031861402094364166, -0.026949971914291382, 0.002785800490528345, 0.000846050854306668, 0.005901901517063379, -0.0029371457640081644, -0.025982942432165146, 0.0024128002114593983, 0.0008500416879542172, 1.0502163171768188, -1.0668153762817383, -0.2424791008234024, 1.100534200668335, -1.5941981077194214, -0.7696086764335632, -0.27451926469802856, 0.005450844764709473, -0.12107979506254196, -0.19013571739196777, -0.17967663705348969, 0.0032513414043933153, 0.005343433935195208, -0.1390104740858078, 0.0035849851556122303, 0.0008256534347310662, -0.0008750364650040865, -0.12891873717308044, 0.0033984852489084005, 0.0008655614801682532, -0.001791774877347052, -0.15041857957839966, 0.003543501254171133, 0.0008314179140143096, 0.006576220504939556, -0.0028311749920248985, -0.16799214482307434, 0.0032743881456553936, 0.0008673351258039474, 0.5624915957450867, -1.1069588661193848, 0.5439879298210144, -0.0007669904152862728, -9.58738019107841e-05, -0.018311895430088043, -0.7276821136474609], "max": [1.2156713008880615, -0.6960371136665344, -0.0008424909901805222, 1.5690544843673706, 0.16481149196624756, 0.3460695147514343, 0.6981709599494934, 1.3204474449157715, 0.29836171865463257, -0.0035505646374076605, 0.2364504337310791, 0.7139573693275452, 0.3225327134132385, 0.11273583769798279, 0.030109833925962448, 0.03158368170261383, 0.27033182978630066, 0.2450229972600937, 0.04564323276281357, 0.03168034926056862, 0.023776352405548096, 0.26108741760253906, 0.0028443033806979656, 0.0037655471824109554, 0.24062609672546387, 0.011379382573068142, 0.28225237131118774, 0.002459248062223196, 0.0037518010940402746, 1.4740406274795532, -0.35149237513542175, -0.00049147306708619, 1.7507519721984863, 0.2324739545583725, 0.020901087671518326, 0.6981386542320251, 1.3951085805892944, 0.2739936113357544, 0.2231128066778183, 0.2129274159669876, 0.2979232370853424, 1.0662016868591309, 0.11835896223783493, 0.18444254994392395, 0.4523445665836334, 1.3062505722045898, 0.14225523173809052, 1.2578518390655518, 0.7064112424850464, 1.4044504165649414, 0.15935708582401276, 1.4487322568893433, 0.764441967010498, 0.24204646050930023, 1.3023972511291504, 0.17979075014591217, 1.377089262008667, 1.3082057237625122, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.054839812219142914, -0.576297402381897], "mean": [1.1734888553619385, -0.7428326606750488, -0.22127021849155426, 1.325995683670044, 0.15493443608283997, 0.18125596642494202, 0.2340812087059021, 1.284407377243042, 0.28910449147224426, -0.0824718326330185, 0.16957290470600128, 0.695981502532959, 0.22609877586364746, 0.08627653867006302, 0.02191244252026081, 0.022775430232286453, 0.10471056401729584, 0.17612019181251526, 0.019466271623969078, 0.01458109263330698, 0.005119652487337589, 0.19413945078849792, 0.002812750870361924, 0.0016526625258848071, 0.22761881351470947, 0.0008730522240512073, 0.25673621892929077, 0.0024360232055187225, 0.001669093850068748, 1.2851983308792114, -0.6381469368934631, -0.23520296812057495, 1.359242558479309, -1.295234203338623, -0.2797935903072357, -0.05831313133239746, 1.2931395769119263, 0.08783897757530212, 0.007862551137804985, -0.08696043491363525, 0.12418803572654724, 0.8730453252792358, 0.049739543348550797, 0.07796962559223175, 0.1672438234090805, 1.2204515933990479, -0.0665678083896637, 1.0902997255325317, 0.26788002252578735, 1.305144190788269, -0.117034412920475, 1.2332763671875, 0.5218616127967834, 0.04305863752961159, 1.2263498306274414, -0.13464070856571198, 0.8227657079696655, 1.2359185218811035, 0.562696099281311, -1.1068556308746338, 0.5441002249717712, -0.00044787145452573895, 4.001410047749232e-08, 0.025015072897076607, -0.6902620196342468], "std": [0.030448298901319504, 0.03686579316854477, 0.02062276564538479, 0.054106276482343674, 0.029790975153446198, 0.1818675845861435, 0.1283615380525589, 0.12216788530349731, 0.03201362118124962, 0.050065476447343826, 0.028076432645320892, 0.07968299090862274, 0.03626338019967079, 0.021487955003976822, 0.0029400477651506662, 0.003613960463553667, 0.08623068034648895, 0.0636526346206665, 0.015194598585367203, 0.010384459048509598, 0.007417578715831041, 0.06680076569318771, 8.447036634606775e-06, 0.0005087414174340665, 0.02974376641213894, 0.0027945437468588352, 0.05406011641025543, 6.685585958621232e-06, 0.00017645687330514193, 0.102784663438797, 0.15569883584976196, 0.02163899689912796, 0.16471607983112335, 0.3030169904232025, 0.14170528948307037, 0.1676841378211975, 0.1656872183084488, 0.06419561803340912, 0.07444558292627335, 0.07385891675949097, 0.06232264265418053, 0.21577221155166626, 0.034557051956653595, 0.0354609489440918, 0.10392950475215912, 0.2443365901708603, 0.023921966552734375, 0.23595672845840454, 0.07392491400241852, 0.2639206051826477, 0.03753616660833359, 0.2673121690750122, 0.13129422068595886, 0.02983733080327511, 0.2482350617647171, 0.04463553801178932, 0.2849277853965759, 0.2652473449707031, 3.7954876461299136e-05, 2.8266189474379644e-05, 4.60309129266534e-05, 0.00011374439054634422, 4.379491656436585e-06, 0.018259551376104355, 0.029138172045350075], "count": [2396]}, "observation.state.joint_torque": {"min": [-39.04349899291992, -4.701000213623047, -23.368999481201172, -8.095999717712402, -0.7775999903678894, -1.6272000074386597, 0.646399974822998, -0.39861413836479187, -0.45210227370262146, -0.3728068470954895, -0.3081870377063751, -0.18428844213485718, -0.43943461775779724, -0.5852732062339783, -0.05810895934700966, -0.039242662489414215, -0.4806916117668152, -0.5507324934005737, -0.12451920658349991, -0.03424813970923424, -0.14583855867385864, -0.506597101688385, -0.0016602561809122562, -0.03567514568567276, -0.11874628812074661, -0.15447373688220978, -0.722476601600647, -0.0016602561809122562, -0.027113113552331924, 9.402000427246094, -4.718999862670898, -2.13700008392334, -8.769000053405762, -2.507999897003174, -3.8368000984191895, -3.4528000354766846, -1.910291314125061, -0.7437400817871094, -0.4846489131450653, -0.5517541766166687, -0.12119869887828827, -0.8500853180885315, -0.6716249585151672, -0.1062563955783844, -0.06064775213599205, -1.0985864400863647, -0.7953958511352539, -0.3270704448223114, -0.032821137458086014, -1.0237482786178589, -0.357880175113678, -0.34201276302337646, -0.10559843480587006, -0.150851771235466, -0.906693696975708, -0.4528671205043793, -0.15274357795715332, -0.12058199942111969, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.220500946044922, 6.2204999923706055, -9.230999946594238, -0.06599999964237213, 1.9040000438690186, 0.8967999815940857, 3.165600061416626, 0.4864875376224518, 0.2687143087387085, 0.4001460373401642, 0.5666664242744446, 0.09297433495521545, 0.36843425035476685, 0.3626774847507477, 0.08965382725000381, 0.01855107769370079, 0.3214205205440521, 0.38762354850769043, 0.1328205019235611, 0.014270060695707798, 0.30702856183052063, 0.3770694434642792, 0.0016602561809122562, 0.00856203492730856, 0.05057712271809578, 0.2062848061323166, 0.3550017774105072, -0.0, 0.01212955079972744, 43.02750015258789, 10.527000427246094, 23.10700035095215, 2.619999885559082, 0.20960000157356262, 3.47760009765625, 1.3567999601364136, 2.241408586502075, 4.99477481842041, 2.1796774864196777, 1.3868415355682373, 0.5329421758651733, 2.1491997241973877, 0.7905985116958618, 1.0575830936431885, 0.21476440131664276, 0.3463665843009949, 0.2964744567871094, 0.18262816965579987, 0.05636673793196678, 0.3569207191467285, 0.1986090987920761, 0.1942499577999115, 0.039242662489414215, 0.12886172533035278, 0.5190701484680176, 0.29935285449028015, 0.12285894900560379, 0.07349080592393875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.57699966430664, 2.0384209156036377, -13.899556159973145, -2.654566526412964, -0.3971784710884094, -0.7363176941871643, 1.5385090112686157, -0.0022568434942513704, -0.0013298632111400366, 0.03554270789027214, 0.013371328823268414, -0.00010809608647832647, 0.018949832767248154, 0.017770081758499146, 0.0010089051211252809, 0.0001274537789868191, 0.02830342948436737, 0.01004633679986, 0.0047105345875024796, 0.0005333414883352816, 0.03016713261604309, 0.04641875997185707, 4.15756949223578e-06, -0.0034811580553650856, -0.0021154882851988077, 0.0033885613083839417, 0.018132993951439857, -6.929282676537696e-07, -0.0002712860004976392, 27.00874137878418, 0.8585502505302429, 13.096141815185547, -1.908535122871399, -0.6013241410255432, 1.4521968364715576, -0.9680672883987427, 0.12278541177511215, 1.1902567148208618, 0.32044559717178345, 0.17420049011707306, 0.1111241951584816, 1.03322172164917, 0.02214016765356064, 0.41305142641067505, 0.10413045436143875, -0.09147869795560837, -0.11687155812978745, -0.0013955588219687343, -0.0015890030190348625, 0.012235940434038639, -0.001798792160116136, 0.0018674401799216866, -0.001272752182558179, -0.0036037624813616276, 0.02166205458343029, -0.01385898794978857, -0.016124457120895386, 0.002458253176882863, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.6412897109985352, 0.7380334734916687, 0.4719681441783905, 0.6136007308959961, 0.349077045917511, 0.3881196081638336, 0.2045898735523224, 0.03515598922967911, 0.026789294555783272, 0.061033230274915695, 0.060859315097332, 0.010857118293642998, 0.062149036675691605, 0.06250526756048203, 0.007628229912370443, 0.003936128690838814, 0.05944634974002838, 0.06046169251203537, 0.01685914397239685, 0.003794864984229207, 0.04899458587169647, 0.07782460749149323, 0.00010717919212765992, 0.006805016193538904, 0.009539410471916199, 0.02568722702562809, 0.06433692574501038, 3.391097197891213e-05, 0.002399086020886898, 4.039544582366943, 1.6479160785675049, 1.8348510265350342, 1.6235320568084717, 0.2971500754356384, 0.7743557095527649, 0.49863263964653015, 0.6533337831497192, 1.4471752643585205, 0.4321831464767456, 0.31273767352104187, 0.13899992406368256, 1.052336573600769, 0.10611564666032791, 0.4492410123348236, 0.10285727679729462, 0.16930396854877472, 0.15279050171375275, 0.028759218752384186, 0.008417430333793163, 0.06699200719594955, 0.056853920221328735, 0.028122562915086746, 0.010576209984719753, 0.021387413144111633, 0.1114397644996643, 0.08908115327358246, 0.033677756786346436, 0.013779796659946442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2396]}, "observation.state.tcp": {"min": [0.35708168148994446, 0.17477068305015564, 0.9775267839431763, -1.3550310134887695, 1.2176121473312378, -1.8850352764129639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27367520332336426, -0.24769160151481628, 0.9792611598968506, -0.5971176028251648, 1.2183501720428467, 0.5069273114204407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.38579121232032776, 0.22751930356025696, 1.0589826107025146, -1.0249834060668945, 2.13179087638855, -1.2287697792053223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4665025770664215, -0.05488739162683487, 1.1424185037612915, 1.2471922636032104, 2.1107144355773926, 1.633779764175415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.37335845828056335, 0.19697140157222748, 1.004990577697754, -1.3036417961120605, 1.8987152576446533, -1.7431660890579224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3946385085582733, -0.1458730250597, 1.0596436262130737, -0.196492999792099, 1.7826740741729736, 0.6938015222549438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.008795593865215778, 0.013735459186136723, 0.018899274989962578, 0.04768858477473259, 0.20974208414554596, 0.08902325481176376, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.050725750625133514, 0.04799157381057739, 0.04437284544110298, 0.29291731119155884, 0.16920018196105957, 0.18859533965587616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2396]}, "action": {"min": [1.0501171350479126, -0.8447731137275696, -0.22511646151542664, 1.2746427059173584, 9.803325156099163e-06, -0.7691535949707031, 0.10164879262447357, 0.0, 0.0, -0.2583064138889313, 0.0, 0.0, 0.0, -0.07692427933216095, 0.0, 0.0, 0.0, -0.11940667033195496, 0.0, 0.0, 0.0, -0.14126549661159515, 0.0, 0.0, 0.0, 0.0, -0.1335035264492035, 0.0, 0.0, 1.0508830547332764, -1.0668343305587769, -0.2424648404121399, 1.1004489660263062, -1.5941892862319946, -0.7697591185569763, -0.2746201455593109, 0.0, -0.12016207724809647, -0.19231711328029633, -0.17965908348560333, 0.0, 0.0, -0.14076252281665802, 0.0, 0.0, 0.0, -0.15980015695095062, 0.0, 0.0, 0.0, -0.15789972245693207, 0.0, 0.0, 0.0, 0.0, -0.1752917766571045, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5441362261772156, -0.000753063999582082, -1.1524586625455413e-05, -0.018279654905200005, -0.7276636958122253], "max": [1.2156692743301392, -0.6960264444351196, -0.0003298870869912207, 1.569682240486145, 0.16480706632137299, 0.3460598886013031, 0.7322067618370056, 1.3320239782333374, 0.2952837646007538, 0.0, 0.2529536485671997, 0.7200416326522827, 0.3282511532306671, 0.11279044300317764, 0.034047674387693405, 0.0327385775744915, 0.27603721618652344, 0.24690820276737213, 0.054167240858078, 0.035196226090192795, 0.02804080955684185, 0.2691267728805542, 0.006218945607542992, 0.0061247986741364, 0.26180002093315125, 0.01691606268286705, 0.28886714577674866, 0.0052650789730250835, 0.005162211135029793, 1.474036455154419, -0.35143759846687317, -0.0009486631606705487, 1.7507797479629517, 0.23284101486206055, 0.020947271957993507, 0.7192581295967102, 1.4043580293655396, 0.28518667817115784, 0.2288283407688141, 0.2297719269990921, 0.32091355323791504, 1.1791115999221802, 0.11851862072944641, 0.2625942826271057, 0.4540521502494812, 1.4823287725448608, 0.21902722120285034, 1.2616033554077148, 0.7119768857955933, 1.4252647161483765, 0.21704716980457306, 1.4529250860214233, 0.765791654586792, 0.26180002093315125, 1.3099666833877563, 0.25807496905326843, 1.380261778831482, 1.3836965560913086, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.53397644366156e-22, 1.3705714991374407e-05, 0.055607058107852936, -0.5739372968673706], "mean": [1.1735426187515259, -0.7428502440452576, -0.22128117084503174, 1.3260127305984497, 0.15494391322135925, 0.1811690479516983, 0.23436707258224487, 1.2870429754257202, 0.28953999280929565, -0.07836536318063736, 0.1705438792705536, 0.7025102376937866, 0.23261255025863647, 0.08832018077373505, 0.027619337663054466, 0.026284541934728622, 0.10821129381656647, 0.18135005235671997, 0.02372327260673046, 0.017399011179804802, 0.005505245644599199, 0.20071730017662048, 0.0013549232389777899, 0.001333670224994421, 0.2411816418170929, 0.0015098861185833812, 0.2631675601005554, 0.0005469676107168198, 0.0005408015567809343, 1.286104440689087, -0.6386556029319763, -0.2352350950241089, 1.3596742153167725, -1.295040249824524, -0.27990567684173584, -0.058059290051460266, 1.2934837341308594, 0.09083481878042221, 0.0075886244885623455, -0.08716613054275513, 0.12468220293521881, 0.9132368564605713, 0.04737124964594841, 0.08103899657726288, 0.21457242965698242, 1.222778558731079, -0.06591413170099258, 1.0916087627410889, 0.26818856596946716, 1.307737112045288, -0.11783966422080994, 1.2350867986679077, 0.5227888822555542, 0.04183230176568031, 1.2289024591445923, -0.13601277768611908, 0.82304847240448, 1.270756721496582, 0.5626978278160095, -1.1068617105484009, 0.5441759824752808, -0.0004894734011031687, -8.017396453396941e-07, 0.025054840371012688, -0.6903069615364075], "std": [0.03042484074831009, 0.036881059408187866, 0.020620839670300484, 0.054139211773872375, 0.02978050522506237, 0.18183818459510803, 0.12905041873455048, 0.13750413060188293, 0.03436386212706566, 0.05143069475889206, 0.03032492659986019, 0.0851772129535675, 0.03805883228778839, 0.020821822807192802, 0.0038210954517126083, 0.0037613417953252792, 0.08784855902194977, 0.06258980929851532, 0.016548892483115196, 0.011185724288225174, 0.008126050233840942, 0.07124736905097961, 0.0019468696555122733, 0.0019164078403264284, 0.039860114455223083, 0.003177052363753319, 0.06038006395101547, 0.0010757514974102378, 0.0010615378851071, 0.10267521440982819, 0.15601447224617004, 0.021580073982477188, 0.16501836478710175, 0.3044329285621643, 0.14207331836223602, 0.16831934452056885, 0.1723523586988449, 0.06623567640781403, 0.07463964074850082, 0.07329938560724258, 0.06409105658531189, 0.24558468163013458, 0.033052269369363785, 0.04070603847503662, 0.135626882314682, 0.2391866147518158, 0.027116835117340088, 0.23230399191379547, 0.07345954328775406, 0.25827527046203613, 0.03675156086683273, 0.2625696659088135, 0.13000550866127014, 0.03311736509203911, 0.24276703596115112, 0.04373418912291527, 0.2835404872894287, 0.27121099829673767, 1.4403583918465301e-05, 4.0054487726592924e-06, 1.2968171176908072e-05, 9.648168634157628e-05, 4.6626410039607435e-06, 0.018339136615395546, 0.029151132330298424], "count": [2396]}, "observation.state.tcp_pose": {"min": [0.35708168148994446, 0.17477068305015564, 0.9775267839431763, -1.3550310134887695, 1.2176121473312378, -1.8850352764129639, 0.27367520332336426, -0.24769160151481628, 0.9792611598968506, -0.5971176028251648, 1.2183501720428467, 0.5069273114204407], "max": [0.38579121232032776, 0.22751930356025696, 1.0589826107025146, -1.0249834060668945, 2.13179087638855, -1.2287697792053223, 0.4665025770664215, -0.05488739162683487, 1.1424185037612915, 1.2471922636032104, 2.1107144355773926, 1.633779764175415], "mean": [0.37335845828056335, 0.19697140157222748, 1.004990577697754, -1.3036417961120605, 1.8987152576446533, -1.7431660890579224, 0.3946385085582733, -0.1458730250597, 1.0596436262130737, -0.196492999792099, 1.7826740741729736, 0.6938015222549438], "std": [0.008795593865215778, 0.013735459186136723, 0.018899274989962578, 0.04768858477473259, 0.20974208414554596, 0.08902325481176376, 0.050725750625133514, 0.04799157381057739, 0.04437284544110298, 0.29291731119155884, 0.16920018196105957, 0.18859533965587616], "count": [2396]}, "action.tcp_pose": {"min": [0.3575103282928467, 0.17476503551006317, 0.977527916431427, -1.3550305366516113, 1.2181326150894165, -1.8943774700164795, 0.2737235128879547, -0.2504846453666687, 0.9791623950004578, -0.5973255038261414, 1.218164324760437, 0.506910502910614], "max": [0.3858064115047455, 0.2270527482032776, 1.0589544773101807, -1.005282998085022, 2.131901264190674, -1.229506492614746, 0.46634727716445923, -0.05488618090748787, 1.1424570083618164, 1.2493013143539429, 2.1108343601226807, 1.639591097831726], "mean": [0.373384565114975, 0.19698472321033478, 1.0049933195114136, -1.3035842180252075, 1.8983619213104248, -1.7432976961135864, 0.39474794268608093, -0.14600776135921478, 1.0600872039794922, -0.19656656682491302, 1.781316876411438, 0.6939976811408997], "std": [0.00878116860985756, 0.013728209771215916, 0.018946252763271332, 0.048283651471138, 0.21023599803447723, 0.0887148380279541, 0.05068757012486458, 0.048142097890377045, 0.04445205256342888, 0.2938939929008484, 0.1704995036125183, 0.18931928277015686], "count": [2396]}, "subtask_index": {"min": [50], "max": [1248], "mean": [1193.6402337228715], "std": [177.6172775363116], "count": [2396]}, "observation.tactile": {"min": [-0.008625741116702557, -4.509022255660966e-05, -9.992174454964697e-05, -0.0011919682146981359, -0.00011832356540253386, -0.00010834834392881021, -0.005662732291966677, -4.9236128688789904e-05, -0.00010692192881833762, -0.0007438930333591998, -5.920402145420667e-06, -0.0001289222709601745, -0.0062294309027493, -4.6653880417579785e-05, -0.00010355077392887324, -0.0013189673190936446, -5.9880556364078075e-05, -0.00011832223390229046, -0.006096742115914822, -3.562514757504687e-05, -7.619659299962223e-05, -0.0006795385270379484, -7.355825073318556e-05, -0.00012347506708465517, -0.007005241233855486, -4.8003828851506114e-05, -0.00010789134103106335, -0.0014675286365672946, -2.279105865454767e-05, -0.0001530219306005165, -2.4324381351470947, -4.1945779230445623e-05, -9.578297613188624e-05, -0.2877587378025055, -0.0038385987281799316, -0.09647513926029205, -5.960253715515137, -0.9594767093658447, -0.00010417909652460366, -0.3326237201690674, -0.04600090533494949, -0.10039608180522919, -3.225731372833252, -0.03687094524502754, -9.95590235106647e-05, -0.012828109785914421, -0.005806853994727135, -0.044241320341825485, -0.02521400712430477, -5.4636228014715016e-05, -0.00012331802281551063, -0.0032429618295282125, -9.649723506299779e-05, -0.0005224273772910237, -0.24578306078910828, -4.129671651753597e-05, -9.144239447778091e-05, -0.0014903093688189983, -0.0002671375114005059, -0.003966581542044878], "max": [0.02167763188481331, 0.018290288746356964, 0.057726938277482986, 1.875289854069706e-06, 0.0003641309158410877, 0.0003377319371793419, 0.01600419171154499, 0.014626364223659039, 0.04300692677497864, 1.825412255129777e-06, 0.00022488398826681077, 0.00020397789194248617, 0.01661258190870285, 0.024549460038542747, 0.07205796241760254, 1.9481151412037434e-06, 0.00038244115421548486, 0.00020001907250843942, 0.005981341004371643, 0.012707790359854698, 0.038600608706474304, 1.4131289844954154e-06, 0.00023078396043274552, 5.178634455660358e-05, 0.023608636111021042, 0.02433820255100727, 0.07439175993204117, 2.032935299212113e-06, 0.0004272701626177877, 0.0003281493845861405, 12.306044578552246, 27.537321090698242, 18.776378631591797, 1.7428449154976988e-06, 0.05706056207418442, 0.22613203525543213, 1.617256999015808, 11.65853500366211, 22.18336296081543, 1.9412441361055244e-06, 0.009442581795156002, 0.031523510813713074, 0.013953039422631264, 0.6002822518348694, 0.8675666451454163, 1.854912852650159e-06, 0.002874765545129776, 0.00014686386566609144, 0.2144164890050888, 0.06355071067810059, 0.19658391177654266, 2.2501401417684974e-06, 0.0011232453398406506, 0.00332698505371809, 0.0008761976496316493, 0.04095325991511345, 0.08907800167798996, 1.6729537719584187e-06, 0.00016423330816905946, 6.9374418671941385e-06], "mean": [-0.0004081286315340549, 0.0023055453784763813, 0.006787318270653486, -9.019132994581014e-05, 1.2713115211226977e-05, -7.567929515062133e-06, 0.00014356907922774553, 0.00025860650930553675, 0.0007802486070431769, -1.4275034118327312e-05, 1.339025061497523e-06, 1.914451559059671e-06, 0.00035631677019409835, 0.0010004490613937378, 0.003016374772414565, -5.365956531022675e-05, 9.216391845257021e-06, 3.997528892796254e-06, 0.0001335640117758885, 0.000608515169005841, 0.001801670528948307, -2.4254095478681847e-05, 3.613945182223688e-06, 2.0788354504475137e-06, 0.00017885337001644075, 0.0007786300266161561, 0.0023497084621340036, -4.1915354813681915e-05, 6.635762929363409e-06, 1.812722985050641e-06, 3.2714951038360596, 3.188122034072876, 5.989830017089844, -0.10194578766822815, 0.012064008973538876, 0.05047803744673729, -1.0665911436080933, 0.7271884083747864, 7.1556077003479, -0.11108536273241043, -0.0068498519249260426, -0.01599656231701374, -0.1804000735282898, 0.031641729176044464, 0.04230579361319542, -0.000587699469178915, -4.244625961291604e-05, -0.002351133618503809, -0.0010076742619276047, 0.002795842243358493, 0.008368006907403469, -0.00016337833949364722, 5.366162895370508e-06, -2.1816887965542264e-05, -0.0006792043568566442, 0.0009742263937368989, 0.0028018089942634106, -5.543939187191427e-05, -5.428196800494334e-06, -9.95193659036886e-06], "std": [0.001221387879922986, 0.0027445415034890175, 0.008007439784705639, 0.00011616490519372746, 3.60722879122477e-05, 1.8856577298720367e-05, 0.0007456546300090849, 0.0011644004844129086, 0.0033492634538561106, 6.067900903872214e-05, 1.1684951459756121e-05, 1.4601958355342504e-05, 0.0012671577278524637, 0.0025909324176609516, 0.00777597026899457, 0.00014285130600910634, 3.557797390385531e-05, 1.616594090592116e-05, 0.0005811956361867487, 0.0015530067030340433, 0.004534217994660139, 6.369025504682213e-05, 1.7953143469640054e-05, 9.276091986976098e-06, 0.0011410970473662019, 0.0018706278642639518, 0.005575259681791067, 0.00010468571417732164, 2.3965147192939185e-05, 1.9580560547183268e-05, 3.6851491928100586, 3.515131711959839, 5.785884380340576, 0.09943569451570511, 0.014608243480324745, 0.06066017597913742, 1.4570074081420898, 1.5898200273513794, 7.243756294250488, 0.11262767761945724, 0.010464929975569248, 0.022798633202910423, 0.4347396194934845, 0.08863765001296997, 0.09374724328517914, 0.0013578471262007952, 0.0005933642387390137, 0.0057962434366345406, 0.00641723582521081, 0.005382205359637737, 0.016140975058078766, 0.0003134315775241703, 4.9066242354456335e-05, 0.00010444942017784342, 0.008610357530415058, 0.0022298935800790787, 0.005931416526436806, 0.00011661715689115226, 1.5317820725613274e-05, 0.00013604789273813367], "count": [2396]}, "timestamp": {"min": [0.0], "max": [79.83333333333333], "mean": [39.916666666666664], "std": [23.05551874160381], "count": [2396]}, "frame_index": {"min": [0], "max": [2395], "mean": [1197.5], "std": [691.6655622481143], "count": [2396]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [2396]}, "index": {"min": [53822], "max": [56217], "mean": [55019.5], "std": [691.6655622481143], "count": [2396]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2396]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5654566884040833]], [[0.5655694603919983]], [[0.5656751990318298]]], "std": [[[0.29497402906417847]], [[0.29458799958229065]], [[0.29539772868156433]]], "count": [2396]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3029576539993286]], [[0.30536824464797974]], [[0.303851842880249]]], "std": [[[0.18404053151607513]], [[0.18469972908496857]], [[0.18454919755458832]]], "count": [2396]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31032031774520874]], [[0.31298771500587463]], [[0.3097333014011383]]], "std": [[[0.18416741490364075]], [[0.18342450261116028]], [[0.18212507665157318]]], "count": [2396]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659931302070618]], [[0.5658825635910034]], [[0.5656530857086182]]], "std": [[[0.2997053265571594]], [[0.29959335923194885]], [[0.3006211221218109]]], "count": [2396]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137383460999]], [[0.7843137383460999]], [[0.7843137383460999]]], "mean": [[[0.0037484588101506233]], [[0.0037484588101506233]], [[0.0037484588101506233]]], "std": [[[0.038930781185626984]], [[0.038930781185626984]], [[0.038930781185626984]]], "count": [2396]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4902110695838928]], [[0.4902110695838928]], [[0.4902110695838928]]], "std": [[[0.22128665447235107]], [[0.22128665447235107]], [[0.22128665447235107]]], "count": [2396]}}}
+{"episode_index": 24, "stats": {"observation.state": {"min": [1.0502269268035889, -0.7799931168556213, -0.22463567554950714, 1.0331393480300903, 2.9481192541425116e-05, -0.7689611911773682, 0.22467269003391266, 0.006901681423187256, -0.00035159735125489533, -0.25004318356513977, 0.00014129519695416093, 0.003504499327391386, 0.003644632874056697, -0.02805854007601738, 0.003476134268566966, 0.0008354087476618588, 0.00022446255024988204, -0.057671159505844116, 0.0030786695424467325, 0.000823879730887711, -0.0031689687166363, -0.026924459263682365, 0.002723397221416235, 0.0008509285398758948, 0.005879423581063747, -0.002806639764457941, -0.018478045240044594, 0.002277002902701497, 0.0008194454712793231, 0.9559921026229858, -1.0311086177825928, -0.24294517934322357, 1.0764923095703125, -1.8158024549484253, -0.7692822217941284, -0.3238450586795807, 0.0054436177015304565, -0.1950915902853012, -0.24406617879867554, -0.1683531254529953, 0.0032534687779843807, 0.0053949495777487755, -0.16065576672554016, 0.003577539464458823, 0.0008411731687374413, -0.0016470394330099225, -0.11262908577919006, 0.00339033012278378, 0.0010983585380017757, -0.0008038944797590375, -0.1448744535446167, 0.0034747160971164703, 0.0008841852541081607, 0.006224076263606548, -0.0006294781342148781, -0.16700352728366852, 0.0032534687779843807, 0.000892610230948776, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0005752427969127893, -0.0001917476038215682, -0.0001917476038215682, -0.7387076020240784], "max": [1.3070083856582642, -0.5642814636230469, -0.0003298058873042464, 1.5696721076965332, 0.3748764991760254, 0.2395160049200058, 0.6981473565101624, 1.2908287048339844, 0.2863273024559021, 0.0018332399195060134, 0.207272008061409, 0.40705662965774536, 0.39177510142326355, 0.13392682373523712, 0.03005487658083439, 0.03163157403469086, 0.30765318870544434, 0.2053714096546173, 0.04563295096158981, 0.036143843084573746, 0.0902535542845726, 0.216737300157547, 0.014996236190199852, 0.01779012568295002, 0.03837520256638527, 0.04430940002202988, 0.22261942923069, 0.007616010960191488, 0.008613046258687973, 1.4757894277572632, -0.3263457715511322, -0.00024711471633054316, 1.7406061887741089, 0.17988081276416779, -0.13881291449069977, 0.6627196073532104, 1.3887604475021362, 0.24986132979393005, 0.18820928037166595, 0.23497025668621063, 0.7421401739120483, 1.1422103643417358, 0.08161284774541855, 0.597183883190155, 0.5682167410850525, 1.2827203273773193, 0.16083680093288422, 1.2643111944198608, 0.6175705790519714, 1.4168304204940796, 0.16783098876476288, 1.4794539213180542, 0.9900790452957153, 0.0784212127327919, 1.4007869958877563, 0.17398689687252045, 1.4932323694229126, 1.3090828657150269, 0.5627791881561279, -1.106767177581787, 0.5443714261054993, 0.00047936898772604764, 0.0001917476038215682, 0.13067598640918732, -0.48771002888679504], "mean": [1.1892272233963013, -0.6194608807563782, -0.2213720679283142, 1.1697273254394531, 0.17326658964157104, 0.036871131509542465, 0.35130733251571655, 1.1716126203536987, 0.24812431633472443, -0.1752242147922516, 0.11342506110668182, 0.27491042017936707, 0.3350437581539154, 0.12335171550512314, 0.02799968793988228, 0.028839029371738434, 0.2554177939891815, 0.19464755058288574, 0.04151513800024986, 0.03197997063398361, 0.07307999581098557, 0.19878987967967987, 0.013592090457677841, 0.011958738788962364, 0.008557621389627457, 0.028361601755023003, 0.19959361851215363, 0.00328578962944448, 0.005112478043884039, 1.256028175354004, -0.6322529315948486, -0.22227023541927338, 1.3511680364608765, -1.4312745332717896, -0.31818220019340515, -0.0865488275885582, 1.2469929456710815, 0.0466596744954586, -0.0005335243185982108, -0.03640458732843399, 0.1972542107105255, 0.8794209361076355, 0.033630337566137314, 0.13238312304019928, 0.22923113405704498, 1.167110562324524, -0.07195863127708435, 1.1105254888534546, 0.3733871281147003, 1.2901514768600464, -0.1193784847855568, 1.2806569337844849, 0.578601062297821, 0.016583191230893135, 1.233479619026184, -0.13605564832687378, 0.9536510109901428, 1.2395135164260864, 0.562691867351532, -1.1068525314331055, 0.5441043376922607, -0.0002503542636986822, -1.7746191360856756e-07, 0.09717418998479843, -0.6905343532562256], "std": [0.06157277151942253, 0.0471697673201561, 0.022235238924622536, 0.11949566751718521, 0.03806949406862259, 0.1862548440694809, 0.07987996935844421, 0.12763549387454987, 0.0377708338201046, 0.037300460040569305, 0.052224621176719666, 0.07492126524448395, 0.04408969730138779, 0.023602794855833054, 0.0038199492264539003, 0.004149709828197956, 0.04678612947463989, 0.038806673139333725, 0.007247747853398323, 0.00538327731192112, 0.018439071252942085, 0.03863293305039406, 0.0027359984815120697, 0.00246794312261045, 0.006902231834828854, 0.01202485803514719, 0.03855600580573082, 0.0017999974079430103, 0.0025015692226588726, 0.11014068126678467, 0.17068973183631897, 0.02656044252216816, 0.16699370741844177, 0.35102906823158264, 0.111025370657444, 0.18934369087219238, 0.1665751338005066, 0.07932712137699127, 0.09159687906503677, 0.07656827569007874, 0.1415022313594818, 0.21455347537994385, 0.030238138511776924, 0.11378219723701477, 0.13956646621227264, 0.24308745563030243, 0.025865374132990837, 0.2572343349456787, 0.09139350801706314, 0.28230521082878113, 0.04373442381620407, 0.29899924993515015, 0.1995360553264618, 0.006857067346572876, 0.2752707600593567, 0.05204813927412033, 0.3222726285457611, 0.2845118045806885, 1.4811878827458713e-05, 4.979562436346896e-05, 6.095170465414412e-05, 0.00028731455677188933, 1.336457808065461e-05, 0.023680320009589195, 0.0338478609919548], "count": [2161]}, "observation.state.joint_torque": {"min": [-32.75849914550781, -3.1110000610351562, -17.0049991607666, -5.570000171661377, -0.4408000111579895, -1.1687999963760376, 1.1591999530792236, -0.5488903522491455, -0.410075843334198, -0.44861093163490295, -0.3330407738685608, -0.09961536526679993, -0.3952992856502533, -0.6850574612617493, -0.09131408482789993, -0.04066966846585274, -0.4212048053741455, -0.40873175859451294, -0.12617947161197662, -0.032821137458086014, -0.22355516254901886, -0.42983999848365784, -0.10459613054990768, -0.033534638583660126, -0.1103900820016861, -0.15735213458538055, -0.4164074659347534, -0.11123716086149216, -0.028540121391415596, 14.269499778747559, -4.1595001220703125, 4.447000026702881, -8.458999633789062, -2.687999963760376, -1.5992000102996826, -3.191200017929077, -1.2977244853973389, -0.8137840628623962, -0.3616226613521576, -1.0488300323486328, -0.16436536610126495, -0.48452943563461304, -0.9633021354675293, -0.18262816965579987, -0.06064775213599205, -1.3864257335662842, -1.1312083005905151, -0.4764934778213501, -0.057793740183115005, -1.3749122619628906, -0.28496086597442627, -0.5213204026222229, -0.11844149231910706, -0.16008758544921875, -0.9028558135032654, -0.4595833718776703, -0.35695505142211914, -0.09275539219379425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.231000900268555, 6.499499797821045, -11.463000297546387, 1.0509999990463257, 1.9199999570846558, 0.9111999869346619, 2.5288000106811523, 0.6571401953697205, 0.3222024440765381, 0.32682734727859497, 0.4051167964935303, 0.09297433495521545, 0.322380006313324, 0.2369876652956009, 0.08633331209421158, 0.015697065740823746, 0.32525837421417236, 0.23027141392230988, 0.11787818372249603, 0.02425910159945488, 0.28112301230430603, 0.4096912443637848, 0.1062563955783844, 0.021405089646577835, 0.04925772175192833, 0.17846034467220306, 0.39242085814476013, 0.05644870921969414, 0.012843053787946701, 36.33449935913086, 9.378000259399414, 21.71299934387207, 2.4700000286102295, 0.4903999865055084, 3.4560000896453857, 1.5176000595092773, 2.5674314498901367, 4.979492664337158, 2.504019260406494, 1.450218677520752, 0.7122498750686646, 2.152078151702881, 0.7176792621612549, 1.0625640153884888, 0.21476440131664276, 0.7992337346076965, 0.24946069717407227, 0.10957689583301544, 0.020691584795713425, 0.4116101562976837, 0.29455551505088806, 0.1328205019235611, 0.022118592634797096, 0.10071445256471634, 0.3972181975841522, 0.4231237471103668, 0.14278201758861542, 0.07277730107307434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.899871826171875, 1.2783819437026978, -13.409431457519531, -1.649094581604004, -0.03857063874602318, -0.5487103462219238, 1.6486382484436035, -0.0062038106843829155, -0.003751039505004883, 0.005822430830448866, 0.005044952034950256, 0.002629827708005905, 0.01479334756731987, 0.0021147439256310463, 0.0007713559316471219, 9.971226245397702e-05, 0.009346003644168377, -0.0005469979951158166, 0.0017578296829015017, -1.4858588656352367e-05, 0.017058536410331726, 0.018170269206166267, 0.0012983967317268252, -0.00012645577953662723, -0.002055323449894786, 0.01095633301883936, 0.015653807669878006, 0.00023970314941834658, -9.938176663126796e-05, 26.983978271484375, 0.9616782665252686, 13.13717269897461, -2.094670534133911, -0.6272554397583008, 1.5589878559112549, -0.802126944065094, 0.2698482275009155, 1.4153132438659668, 0.46165257692337036, 0.20671816170215607, 0.13771988451480865, 0.8094573020935059, -0.026809504255652428, 0.4219062626361847, 0.10274975001811981, -0.06775478273630142, -0.18452885746955872, -0.007376269903033972, 7.197788363555446e-05, -0.005311464425176382, -0.00649691978469491, -0.001594951725564897, -0.002241210313513875, -0.003102213842794299, -0.011029615066945553, 0.009237674996256828, -0.015196608379483223, -0.0004985615378245711, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.9407585263252258, 0.975728452205658, 0.8590294122695923, 0.6311389803886414, 0.2982395589351654, 0.3900737762451172, 0.18822599947452545, 0.05126598849892616, 0.040278129279613495, 0.057155534625053406, 0.05530055984854698, 0.014036045409739017, 0.059067223221063614, 0.059928011149168015, 0.007517613936215639, 0.004003257490694523, 0.04835296794772148, 0.038900066167116165, 0.013592678122222424, 0.004457054194062948, 0.04029405862092972, 0.05941009148955345, 0.009781739674508572, 0.0035929635632783175, 0.009663467295467854, 0.023570770397782326, 0.05320656672120094, 0.006493294145911932, 0.003148545976728201, 4.003777503967285, 2.010617733001709, 1.5469197034835815, 1.7115987539291382, 0.2856181859970093, 0.6561430096626282, 0.5382024645805359, 0.6163870692253113, 1.66566801071167, 0.6352836489677429, 0.4002706706523895, 0.17281167209148407, 0.9130420088768005, 0.18568046391010284, 0.4555281400680542, 0.10363717377185822, 0.22907577455043793, 0.23444421589374542, 0.03456968441605568, 0.00839667022228241, 0.07067836076021194, 0.04734065383672714, 0.02512023039162159, 0.009925887919962406, 0.016326842829585075, 0.11342573910951614, 0.08056970685720444, 0.03680368512868881, 0.01217309944331646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2161]}, "observation.state.tcp": {"min": [0.36182117462158203, 0.16947510838508606, 0.9581131935119629, -1.3841896057128906, 1.2182509899139404, -1.7299048900604248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.256367027759552, -0.2718093991279602, 0.943938136100769, -0.6887530088424683, 1.169147253036499, 0.37954074144363403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4248403012752533, 0.2240968942642212, 1.0875433683395386, -1.0228155851364136, 1.8969547748565674, -1.22964608669281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45670074224472046, -0.03361216560006142, 1.1621673107147217, 1.2085151672363281, 1.9603573083877563, 1.548365831375122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41236957907676697, 0.1879930943250656, 1.0108096599578857, -1.2816345691680908, 1.674157738685608, -1.6489583253860474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3911422789096832, -0.14449070394039154, 1.0540112257003784, -0.27579835057258606, 1.703266978263855, 0.6207464933395386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00961291790008545, 0.011787627823650837, 0.03424809128046036, 0.06934957206249237, 0.13296560943126678, 0.07178378850221634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05170523747801781, 0.06017128750681877, 0.04860994219779968, 0.3378632366657257, 0.1254560947418213, 0.2057584673166275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2161]}, "action": {"min": [1.0502759218215942, -0.7799829840660095, -0.22463232278823853, 1.0331374406814575, 7.583165279356763e-05, -0.768896222114563, 0.22464965283870697, 0.0, 0.0, -0.2540035545825958, 0.0, 0.0, 0.0, -0.0322427935898304, 0.0, 0.0, 0.0, -0.06202299892902374, 0.0, 0.0, 0.0, -0.04849835857748985, 0.0, 0.0, -9.703586378861928e-09, 0.0, -0.03027050569653511, 0.0, 0.0, 0.9559948444366455, -1.0312162637710571, -0.24294255673885345, 1.0764861106872559, -1.8157886266708374, -0.769795298576355, -0.32389339804649353, 0.0, -0.19322732090950012, -0.2478746622800827, -0.14576296508312225, 0.0, 0.0, -0.16213932633399963, 0.0, 0.0, 0.0, -0.11216551810503006, 0.0, 0.0, 0.0, -0.1475878655910492, 0.0, 0.0, -8.836463116779214e-09, 0.0, -0.1647571176290512, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440391302108765, -0.0005353546584956348, -0.0001468163391109556, -0.0001890598941827193, -0.7387559413909912], "max": [1.3070263862609863, -0.5642802119255066, -0.000372669572243467, 1.5696531534194946, 0.37512388825416565, 0.2395520806312561, 0.7359190583229065, 1.2998279333114624, 0.29001516103744507, 0.0, 0.21323823928833008, 0.4116623103618622, 0.3941810727119446, 0.13446979224681854, 0.035740211606025696, 0.035512685775756836, 0.3090328276157379, 0.20524103939533234, 0.051993995904922485, 0.03832139074802399, 0.09045900404453278, 0.2259731888771057, 0.02185729146003723, 0.01857353001832962, 0.05176889896392822, 0.04944397136569023, 0.22683265805244446, 0.011574718169867992, 0.011234207078814507, 1.4757916927337646, -0.32634666562080383, -8.580915164202452e-05, 1.7406340837478638, 0.17985399067401886, -0.13876861333847046, 0.6627728939056396, 1.3993576765060425, 0.27296361327171326, 0.18766343593597412, 0.240520641207695, 0.7451463937759399, 1.1824239492416382, 0.08939766138792038, 0.6339146494865417, 0.6260814666748047, 1.4897600412368774, 0.21291273832321167, 1.2681090831756592, 0.6476921439170837, 1.495121717453003, 0.21947665512561798, 1.4851874113082886, 1.0136125087738037, 0.12079078704118729, 1.4053356647491455, 0.21670478582382202, 1.5032734870910645, 1.4901976585388184, 0.5626999735832214, -1.106863021850586, 0.5444080233573914, 0.0004227894532959908, 0.00022749498020857573, 0.13167226314544678, -0.4874424636363983], "mean": [1.1893521547317505, -0.6195022463798523, -0.22139129042625427, 1.1698436737060547, 0.1730370968580246, 0.03658759593963623, 0.35176002979278564, 1.1762171983718872, 0.2535247504711151, -0.17576676607131958, 0.11164936423301697, 0.27997100353240967, 0.3393745422363281, 0.12288985401391983, 0.032057423144578934, 0.03204638883471489, 0.25705602765083313, 0.19422504305839539, 0.04529723897576332, 0.03471664711833, 0.0738520622253418, 0.20487552881240845, 0.01905713975429535, 0.01625443436205387, 0.003085469361394644, 0.03129122778773308, 0.20452193915843964, 0.007984861731529236, 0.00781917292624712, 1.257141351699829, -0.6331773996353149, -0.22227194905281067, 1.3518891334533691, -1.4330437183380127, -0.31868883967399597, -0.08666060119867325, 1.249682903289795, 0.0512576624751091, 0.000862527231220156, -0.034781817346811295, 0.19711318612098694, 0.8929690718650818, 0.029908563941717148, 0.13999813795089722, 0.2784978747367859, 1.1695255041122437, -0.07201123982667923, 1.1123028993606567, 0.37465083599090576, 1.2926949262619019, -0.11955445259809494, 1.2829337120056152, 0.5805306434631348, 0.016954081133008003, 1.2357550859451294, -0.13683819770812988, 0.9552215933799744, 1.3317795991897583, 0.5626928210258484, -1.10685396194458, 0.5441519618034363, -0.00027288892306387424, -5.036256425228203e-07, 0.09722558408975601, -0.6905799508094788], "std": [0.061589762568473816, 0.047223493456840515, 0.02216235175728798, 0.11967096477746964, 0.03756949305534363, 0.18675462901592255, 0.08136816322803497, 0.1399477869272232, 0.03944382071495056, 0.04041844606399536, 0.05511543154716492, 0.07722706347703934, 0.04612794145941734, 0.022704117000102997, 0.00420436030253768, 0.004182061180472374, 0.04561135172843933, 0.036710359156131744, 0.007204136345535517, 0.005376820452511311, 0.017999261617660522, 0.038182370364665985, 0.004046504385769367, 0.0034646671265363693, 0.009968592785298824, 0.013991763815283775, 0.03720220550894737, 0.002983681857585907, 0.0028884445782750845, 0.10991300642490387, 0.17119647562503815, 0.026554569602012634, 0.16733019053936005, 0.3474386930465698, 0.11168380081653595, 0.18898285925388336, 0.17203937470912933, 0.08328421413898468, 0.0921766385436058, 0.07556753605604172, 0.14253568649291992, 0.2196657359600067, 0.028954066336154938, 0.11792118102312088, 0.16918237507343292, 0.23738543689250946, 0.0276416577398777, 0.2526775300502777, 0.09136388450860977, 0.2768757939338684, 0.04355014115571976, 0.29427671432495117, 0.19958731532096863, 0.010138830170035362, 0.2693069875240326, 0.05136195570230484, 0.3210185766220093, 0.30381691455841064, 9.442102964385413e-06, 1.0233243301627226e-05, 5.114691884955391e-05, 0.0003117646265309304, 1.335346678388305e-05, 0.023725518956780434, 0.0339566171169281], "count": [2161]}, "observation.state.tcp_pose": {"min": [0.36182117462158203, 0.16947510838508606, 0.9581131935119629, -1.3841896057128906, 1.2182509899139404, -1.7299048900604248, 0.256367027759552, -0.2718093991279602, 0.943938136100769, -0.6887530088424683, 1.169147253036499, 0.37954074144363403], "max": [0.4248403012752533, 0.2240968942642212, 1.0875433683395386, -1.0228155851364136, 1.8969547748565674, -1.22964608669281, 0.45670074224472046, -0.03361216560006142, 1.1621673107147217, 1.2085151672363281, 1.9603573083877563, 1.548365831375122], "mean": [0.41236957907676697, 0.1879930943250656, 1.0108096599578857, -1.2816345691680908, 1.674157738685608, -1.6489583253860474, 0.3911422789096832, -0.14449070394039154, 1.0540112257003784, -0.27579835057258606, 1.703266978263855, 0.6207464933395386], "std": [0.00961291790008545, 0.011787627823650837, 0.03424809128046036, 0.06934957206249237, 0.13296560943126678, 0.07178378850221634, 0.05170523747801781, 0.06017128750681877, 0.04860994219779968, 0.3378632366657257, 0.1254560947418213, 0.2057584673166275], "count": [2161]}, "action.tcp_pose": {"min": [0.3618283271789551, 0.16950209438800812, 0.9580559134483337, -1.3842107057571411, 1.2182737588882446, -1.7443218231201172, 0.2554745674133301, -0.2748014032840729, 0.9446055293083191, -0.6888801455497742, 1.1691086292266846, 0.37959524989128113], "max": [0.4248012602329254, 0.22405697405338287, 1.0873724222183228, -1.0016107559204102, 1.89704167842865, -1.2296977043151855, 0.4566061198711395, -0.03359541296958923, 1.1621261835098267, 1.2087665796279907, 1.9633833169937134, 1.549293041229248], "mean": [0.4123884439468384, 0.18799558281898499, 1.010879397392273, -1.2810992002487183, 1.6736584901809692, -1.6490588188171387, 0.3912455141544342, -0.14471648633480072, 1.0546237230300903, -0.27748608589172363, 1.7014092206954956, 0.620257556438446], "std": [0.009592140093445778, 0.011794175952672958, 0.03431209921836853, 0.07027442753314972, 0.13366810977458954, 0.07203547656536102, 0.05158742144703865, 0.060316916555166245, 0.04876944422721863, 0.33381545543670654, 0.1267511546611786, 0.20514224469661713], "count": [2161]}, "subtask_index": {"min": [50], "max": [1301], "mean": [1232.7001388246183], "std": [226.2871473667413], "count": [2161]}, "observation.tactile": {"min": [-0.00827145017683506, -4.336127676651813e-05, -9.543087071506307e-05, -0.0012241732329130173, -7.279163401108235e-05, -0.0001818783493945375, -0.0036396468058228493, -4.9514252168592066e-05, -0.00011373939196346328, -0.0006432971567846835, -7.142768299672753e-05, -7.78487155912444e-05, -0.006641550455242395, -4.802947660209611e-05, -0.00010700549319153652, -0.0005490560433827341, -9.480916196480393e-05, -0.00013025647785980254, -0.01410102378576994, -3.3273980079684407e-05, -7.222618296509609e-05, -0.0009395568049512804, -1.8428048633722938e-06, -0.0003026688937097788, -0.0098015908151865, -4.465667007025331e-05, -0.00010069248673971742, -0.0008591432706452906, -1.2158576282672584e-05, -0.0002150034997612238, -0.37620165944099426, -4.051859650644474e-05, -9.148001117864624e-05, -0.4344860315322876, -0.0005859934026375413, -0.05791117995977402, -5.0472331047058105, -0.044613782316446304, -0.00010350210504839197, -0.21534845232963562, -0.03027370199561119, -0.07927655428647995, -1.5555216073989868, -4.784804332302883e-05, -0.00010566031414782628, -0.007287719752639532, -0.0029473998583853245, -0.022183166816830635, -0.00803238432854414, -5.487354064825922e-05, -0.00012446340406313539, -0.0013070584973320365, -2.701089579204563e-05, -0.00020114955259487033, -0.008748109452426434, -4.15021349908784e-05, -9.297101496485993e-05, -0.0008282257476821542, -4.2373259930172935e-05, -0.00018050266953650862], "max": [0.004825861658900976, 0.02229912020266056, 0.06097925081849098, 1.781098717401619e-06, 0.00017874657351057976, 3.581901910365559e-05, 0.00677077891305089, 0.012352848425507545, 0.037180449813604355, 1.961119778570719e-06, 0.00021135251154191792, 4.829919271287508e-05, 0.00437143025919795, 0.009703574702143669, 0.028732165694236755, 1.9747712940443307e-06, 9.435087122255936e-05, 5.259896715870127e-05, 0.013343781232833862, 0.01838737539947033, 0.05204435810446739, 1.3383513532971847e-06, 0.00026940484531223774, 0.00013630258035846055, 0.010631335899233818, 0.014849000610411167, 0.04450484737753868, 1.876756414276315e-06, 0.0002467189624439925, 0.00012799518299289048, 9.628406524658203, 13.788118362426758, 22.720979690551758, 1.6734397831896786e-06, 0.07144161313772202, 0.14419414103031158, 0.0801839753985405, 7.666575908660889, 12.866466522216797, 1.957470885827206e-06, 0.009393967688083649, 0.012732247821986675, 0.0075426651164889336, 0.17590659856796265, 0.4771326184272766, 1.948523731698515e-06, 0.00030241094646044075, 5.9642836276907474e-05, 0.003488712478429079, 0.023373154923319817, 0.06616281718015671, 2.274279268021928e-06, 0.0001837155141402036, 8.98147754924139e-06, 0.0005053781205788255, 0.01545731071382761, 0.045482028275728226, 1.7140564523288049e-06, 6.830898200860247e-05, 6.968589786993107e-06], "mean": [-0.000690733955707401, 0.0022857291623950005, 0.006580272689461708, -0.000129644715343602, -2.0803097413590876e-06, -1.2889352547063027e-05, 0.0002539816778153181, 0.00020254885021131486, 0.0006239115027710795, -1.0995306183758657e-05, 1.4484910479950486e-06, 4.031047865282744e-06, 0.00017837531049735844, 0.00030962357413955033, 0.0009023069869726896, -1.504075316915987e-05, -2.81050620287715e-06, 4.940668986819219e-06, 0.0001676455867709592, 0.001010119798593223, 0.002921445993706584, -4.045970490551554e-05, 1.1794505553552881e-05, -1.3987399825055036e-06, 0.00017843426030594856, 0.00023531221086159348, 0.0007204173598438501, -1.2965460882696789e-05, 1.0535163852409823e-07, 3.53555878973566e-06, 2.734539031982422, 3.508591651916504, 7.487350940704346, -0.13380035758018494, 0.014447805471718311, 0.042570941150188446, -1.3839895725250244, 1.0378684997558594, 4.583714485168457, -0.07400303333997726, -0.00518356217071414, -0.0210528913885355, -0.005191991105675697, 0.0036072691436856985, 0.010712994262576103, -0.00019981049990747124, -2.5004028429975733e-06, -8.197489660233259e-05, -6.325514550553635e-05, 0.0010865394724532962, 0.0032765220385044813, -6.0914706409676e-05, 3.506489292703918e-06, -2.500403297744924e-06, -9.278277138946578e-05, 0.0006892919773235917, 0.0020015297923237085, -3.490698873065412e-05, -1.2812319027943886e-06, -6.812155675106624e-07], "std": [0.0015559763414785266, 0.0036825481802225113, 0.01048616599291563, 0.00022811115195509046, 1.831755434977822e-05, 3.157144601573236e-05, 0.00039639018359594047, 0.0009170591365545988, 0.002703622682020068, 4.7242254368029535e-05, 1.4453773474087939e-05, 8.435379641014151e-06, 0.0005075964145362377, 0.0010072547011077404, 0.0028925142250955105, 5.202597822062671e-05, 1.1075690053985454e-05, 7.042276592983399e-06, 0.001123300869949162, 0.0020006299018859863, 0.005767664406448603, 8.644389163237065e-05, 2.5963527150452137e-05, 2.0963274437235668e-05, 0.0009268111898563802, 0.0013318960554897785, 0.0039301407523453236, 7.399093738058582e-05, 1.1210225238755811e-05, 1.8123364498023875e-05, 2.9047446250915527, 3.5022478103637695, 7.29606819152832, 0.13209578394889832, 0.017847690731287003, 0.04793470725417137, 1.5463939905166626, 1.3158574104309082, 4.648950576782227, 0.07492224127054214, 0.008098061196506023, 0.023780444636940956, 0.06627458333969116, 0.007985557429492474, 0.02334139123558998, 0.00037807325134053826, 0.00012118799349991605, 0.000942721962928772, 0.0008712214767001569, 0.002094199415296316, 0.006209322717040777, 0.0001237029064213857, 1.3287964975461364e-05, 1.990500823012553e-05, 0.0008351749856956303, 0.001619022455997765, 0.004693496972322464, 8.821016672300175e-05, 7.464546342816902e-06, 1.60810614033835e-05], "count": [2161]}, "timestamp": {"min": [0.0], "max": [72.0], "mean": [36.0], "std": [20.79422996891205], "count": [2161]}, "frame_index": {"min": [0], "max": [2160], "mean": [1080.0], "std": [623.8268990673615], "count": [2161]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [2161]}, "index": {"min": [56218], "max": [58378], "mean": [57298.0], "std": [623.8268990673615], "count": [2161]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2161]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5589340329170227]], [[0.559546947479248]], [[0.5599939227104187]]], "std": [[[0.29361283779144287]], [[0.2927529513835907]], [[0.2933765947818756]]], "count": [2161]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3043437600135803]], [[0.3067615330219269]], [[0.30396705865859985]]], "std": [[[0.1833134889602661]], [[0.18361447751522064]], [[0.18325869739055634]]], "count": [2161]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3084932863712311]], [[0.3115461766719818]], [[0.3079257309436798]]], "std": [[[0.18355609476566315]], [[0.18251776695251465]], [[0.18101631104946136]]], "count": [2161]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5600293278694153]], [[0.5602956414222717]], [[0.5603428483009338]]], "std": [[[0.3003718852996826]], [[0.29985713958740234]], [[0.30067726969718933]]], "count": [2161]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6941176652908325]], [[0.6941176652908325]], [[0.6941176652908325]]], "mean": [[[0.004004265181720257]], [[0.004004265181720257]], [[0.004004265181720257]]], "std": [[[0.04053059592843056]], [[0.04053059592843056]], [[0.04053059592843056]]], "count": [2161]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.490238219499588]], [[0.490238219499588]], [[0.490238219499588]]], "std": [[[0.22129827737808228]], [[0.22129827737808228]], [[0.22129827737808228]]], "count": [2161]}}}
+{"episode_index": 25, "stats": {"observation.state": {"min": [1.0500826835632324, -0.77972412109375, -0.22415077686309814, 0.9020750522613525, -0.08511987328529358, -0.7688701152801514, 0.05526825040578842, 0.006522259674966335, -0.00043904490303248167, -0.2652161419391632, 0.0014106800081208348, 0.003496699035167694, 0.0035759450402110815, -0.14355148375034332, 0.0034952808637171984, 0.0008318613399751484, -0.002642769133672118, -0.18095503747463226, 0.00306342332623899, 0.0008314179140143096, -0.0031684781424701214, -0.026920778676867485, 0.0027389980386942625, 0.0008300876361317933, 0.0059158154763281345, -0.002970512956380844, -0.026002569124102592, 0.002375571057200432, 0.0008456074283458292, 0.9398565292358398, -1.0723135471343994, -0.24323205649852753, 1.1118136644363403, -1.7599204778671265, -0.7699999213218689, -0.4233711361885071, 0.005424646660685539, -0.16926710307598114, -0.20346176624298096, -0.18460018932819366, 0.003256305353716016, 0.0054506356827914715, -0.14297106862068176, 0.003553074551746249, 0.0008518153917975724, -0.0016649473691359162, -0.09349757432937622, 0.006390286609530449, 0.0013852531556040049, -0.0017306910594925284, -0.14440639317035675, 0.0035449194256216288, 0.0008500416879542172, 0.006669341120868921, -0.00174810946919024, -0.16613827645778656, 0.0032793518621474504, 0.0008606838528066874, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0005752427969127893, -9.58738019107841e-05, -0.0001917476038215682, -0.7060146331787109], "max": [1.2362185716629028, -0.5145300626754761, -0.0004075834876857698, 1.5692311525344849, 0.219267338514328, 0.3007296025753021, 0.6981484889984131, 1.3602302074432373, 0.29427826404571533, -0.004889270756393671, 0.23796719312667847, 0.6969199180603027, 0.5132554173469543, 0.12099386751651764, 0.04178488254547119, 0.040846340358257294, 0.2900182902812958, 0.21952112019062042, 0.04561664164066315, 0.036150939762592316, 0.12206391990184784, 0.2500774562358856, 0.022468648850917816, 0.017845110967755318, 0.2491888850927353, 0.02687392383813858, 0.27388274669647217, 0.003355582943186164, 0.005187604576349258, 1.3836283683776855, -0.27536818385124207, 0.0, 1.8523558378219604, 0.05706336721777916, -0.18512991070747375, 0.6981431245803833, 1.3893158435821533, 0.2909392714500427, 0.21336722373962402, 0.2911800146102905, 0.35773372650146484, 1.108566164970398, 0.1249159500002861, 0.38193726539611816, 0.5928900837898254, 1.4607763290405273, 0.19915367662906647, 1.3545656204223633, 0.7501824498176575, 1.4666391611099243, 0.21565373241901398, 1.452265739440918, 0.8198134899139404, 0.12486470490694046, 1.361380934715271, 0.20064885914325714, 1.4438821077346802, 1.3081821203231812, 0.5627791881561279, -1.1066712141036987, 0.5443714261054993, 0.0003834952076431364, 9.58738019107841e-05, 0.10248909145593643, -0.5683398842811584], "mean": [1.149876594543457, -0.5567356944084167, -0.22041219472885132, 1.0039527416229248, 0.2056986689567566, 0.16199688613414764, 0.214101642370224, 1.323416829109192, 0.28594863414764404, -0.12271862477064133, 0.18189851939678192, 0.6613222360610962, 0.47181957960128784, 0.11161374300718307, 0.04057259485125542, 0.03924044221639633, 0.21452870965003967, 0.19383510947227478, 0.03944527730345726, 0.027552640065550804, 0.06821661442518234, 0.21688461303710938, 0.013346188701689243, 0.011460728943347931, 0.17342758178710938, 0.005698759574443102, 0.2398899346590042, 0.0024893067311495543, 0.0020177029073238373, 1.2326021194458008, -0.6107034683227539, -0.22425903379917145, 1.3459205627441406, -1.356934905052185, -0.4038468301296234, -0.08668151497840881, 1.2389683723449707, 0.0502861924469471, 0.029830778017640114, -0.045371562242507935, 0.16513235867023468, 0.8948047757148743, 0.053522367030382156, 0.13077391684055328, 0.2592558264732361, 1.1924259662628174, -0.06160004809498787, 1.1416579484939575, 0.5141817331314087, 1.3039196729660034, -0.1135304719209671, 1.2518949508666992, 0.5234805941581726, 0.028091808781027794, 1.2285887002944946, -0.13104236125946045, 1.0684175491333008, 1.2422714233398438, 0.5626868605613708, -1.106844425201416, 0.5440836548805237, -0.0003584431833587587, 4.327302463025262e-07, 0.07225438207387924, -0.6745566725730896], "std": [0.053526535630226135, 0.033269330859184265, 0.024261850863695145, 0.08837269991636276, 0.04766557738184929, 0.1555483490228653, 0.12686902284622192, 0.14029084146022797, 0.035983216017484665, 0.034223057329654694, 0.03097228892147541, 0.08195681124925613, 0.06545987725257874, 0.026911279186606407, 0.005319224204868078, 0.005273336544632912, 0.05498103052377701, 0.04373951256275177, 0.007744657341390848, 0.005453804042190313, 0.03281170874834061, 0.043391451239585876, 0.006736310198903084, 0.004705236759036779, 0.09237874299287796, 0.00777317164465785, 0.0433984212577343, 0.00024806620785966516, 0.0008425210253335536, 0.1075851246714592, 0.1697244793176651, 0.026770710945129395, 0.16240398585796356, 0.3544963598251343, 0.12437528371810913, 0.21680478751659393, 0.1689191311597824, 0.06521371752023697, 0.08109220862388611, 0.08563566207885742, 0.08563481271266937, 0.1957765519618988, 0.02881687879562378, 0.09263826906681061, 0.1428849995136261, 0.24264489114284515, 0.02467160113155842, 0.26469793915748596, 0.1519455760717392, 0.27185767889022827, 0.04495218023657799, 0.2824234366416931, 0.1634121835231781, 0.010317275300621986, 0.2580587565898895, 0.05007856339216232, 0.26819172501564026, 0.2747568190097809, 2.7313757527736016e-05, 3.855730756185949e-05, 4.1152343328576535e-05, 0.00011792700388468802, 7.107660167093854e-06, 0.019689135253429413, 0.028416810557246208], "count": [1994]}, "observation.state.joint_torque": {"min": [-43.17300033569336, -16.54050064086914, -21.284000396728516, -9.76099967956543, -0.7103999853134155, -2.359999895095825, 0.15039999783039093, -1.4925743341445923, -0.35276713967323303, -0.504531979560852, -0.5989763736724854, -0.11289741843938828, -0.38762354850769043, -0.6888952851295471, -0.09297433495521545, -0.04138316959142685, -0.4615022838115692, -0.6178949475288391, -0.13780125975608826, -0.03424813970923424, -0.3147042989730835, -0.42983993887901306, -0.07471152395009995, -0.03567514568567276, -0.10819106549024582, -0.15351428091526031, -0.4854888916015625, -0.01328204944729805, -0.028540121391415596, 11.89050006866455, -15.862500190734863, 4.959000110626221, -11.552000045776367, -2.3359999656677246, -2.2808001041412354, -4.43120002746582, -1.632662296295166, -1.0315572023391724, -0.5032892823219299, -0.9705405235290527, -0.16602559387683868, -1.1484787464141846, -0.8376123309135437, -0.11953844130039215, -0.06064775213599205, -1.3931419849395752, -1.0899513959884644, -0.421705037355423, -0.05493973195552826, -1.3816285133361816, -0.4048939049243927, -0.5013973712921143, -0.06278826296329498, -0.12886172533035278, -1.0035996437072754, -0.4835699498653412, -0.4250255823135376, -0.08990137279033661, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.147499084472656, 7.936500072479248, -9.255999565124512, 3.74399995803833, 1.559999942779541, 1.128000020980835, 2.7160000801086426, 0.970427930355072, 0.08914691209793091, 0.4523390233516693, 0.3852337598800659, 0.0979551151394844, 0.41352906823158264, 0.35596123337745667, 0.1062563955783844, 0.015697065740823746, 0.4077723026275635, 0.26193374395370483, 0.12451920658349991, 0.021405089646577835, 0.428880512714386, 0.41544798016548157, 0.12285894900560379, 0.01712406985461712, 0.05893334746360779, 0.23506875336170197, 0.3924208879470825, 0.0016602561809122562, 0.011416046880185604, 41.73749923706055, 11.472000122070312, 25.170000076293945, 2.1630001068115234, 0.46799999475479126, 3.2760000228881836, 0.274399995803833, 2.538140296936035, 4.676393032073975, 2.6108908653259277, 1.4203941822052002, 0.670743465423584, 2.148240327835083, 0.693692684173584, 1.0575830936431885, 0.21476440131664276, 0.8961395621299744, 0.4164074659347534, 0.7354934215545654, 0.13770607113838196, 1.0103158950805664, 0.3511638939380646, 0.6375383138656616, 0.1462681144475937, 0.13853734731674194, 0.7838822603225708, 0.42216426134109497, 0.6790447235107422, 0.14484110474586487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.847919464111328, 1.4797823429107666, -12.068687438964844, -1.2157803773880005, -0.41188904643058777, -0.6354936361312866, 1.516798496246338, -0.00410926528275013, -0.006335706450045109, 0.02803724631667137, 0.01293046772480011, 0.0006178072071634233, 0.005077362526208162, 0.002084451960399747, 0.0003888368373736739, -7.657404785277322e-05, 0.013350656256079674, 0.0013809788506478071, 0.0014071392361074686, 1.71761403180426e-05, 0.030357856303453445, 0.029851648956537247, 0.00021231893333606422, 5.403110844781622e-05, -0.003431728109717369, 0.00784219615161419, 0.01593642309308052, -0.0001515379990451038, -0.0008781022042967379, 27.077993392944336, 0.9628341794013977, 12.941250801086426, -2.3941798210144043, -0.6628047823905945, 1.5404430627822876, -0.9399464130401611, 0.2742217779159546, 1.2541130781173706, 0.4743097722530365, 0.23704306781291962, 0.13231930136680603, 0.9865211248397827, 0.0063279434107244015, 0.41304659843444824, 0.10675889253616333, -0.09229429066181183, -0.18228474259376526, 0.0010524403769522905, -0.0003313462948426604, -0.012160273268818855, -0.018199006095528603, -0.001316381269134581, -0.001683926209807396, -0.00039679015753790736, -0.016097253188490868, 0.0081193707883358, -0.010003999806940556, 0.0011042532278224826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6302499771118164, 1.0644170045852661, 0.8691542744636536, 0.72967928647995, 0.27212101221084595, 0.40742555260658264, 0.25105929374694824, 0.055685073137283325, 0.030919577926397324, 0.059028636664152145, 0.05663834139704704, 0.010342055931687355, 0.05841413140296936, 0.05830661207437515, 0.008729864843189716, 0.004139548167586327, 0.047205377370119095, 0.04815055802464485, 0.015009930357336998, 0.004164981655776501, 0.05950559675693512, 0.07695015519857407, 0.0068423994816839695, 0.0042281863279640675, 0.012295814231038094, 0.03362748399376869, 0.06257274746894836, 0.0010538441129028797, 0.0047055757604539394, 4.109160423278809, 2.1373391151428223, 1.5064518451690674, 1.6309177875518799, 0.28344693779945374, 0.6881542205810547, 0.49811941385269165, 0.6539503335952759, 1.5435619354248047, 0.6363621950149536, 0.38686317205429077, 0.17268696427345276, 1.0311357975006104, 0.13685330748558044, 0.43265122175216675, 0.10330481827259064, 0.2593756318092346, 0.22920696437358856, 0.03838324546813965, 0.009855622425675392, 0.09174243360757828, 0.07301110774278641, 0.039583414793014526, 0.011026260443031788, 0.01542869582772255, 0.13552787899971008, 0.08822314441204071, 0.045829854905605316, 0.014049559831619263, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1994]}, "observation.state.tcp": {"min": [0.3618515431880951, 0.1749029904603958, 0.9415746927261353, -1.4861427545547485, 1.2182313203811646, -1.7567592859268188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23150016367435455, -0.25786739587783813, 0.9470603466033936, -0.6751605868339539, 1.2176599502563477, 0.3515767753124237, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4393936097621918, 0.2186562418937683, 1.0516587495803833, -0.9178117513656616, 2.003206968307495, -1.2295693159103394, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4513916075229645, -0.027059059590101242, 1.120669960975647, 1.20885169506073, 1.9457154273986816, 1.5075819492340088, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.42271625995635986, 0.19910235702991486, 0.9805479645729065, -1.3844343423843384, 1.809531569480896, -1.5906037092208862, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3877013623714447, -0.13749103248119354, 1.0469396114349365, -0.1717945784330368, 1.6689621210098267, 0.6689915060997009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01293628104031086, 0.009724892675876617, 0.02984771318733692, 0.0894574299454689, 0.1560031622648239, 0.05862943455576897, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05197223648428917, 0.06198437511920929, 0.04432820528745651, 0.335297167301178, 0.11736933887004852, 0.20343448221683502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1994]}, "action": {"min": [1.0501266717910767, -0.779130220413208, -0.2241411656141281, 0.9020534157752991, -0.08558773994445801, -0.7670738101005554, 0.055270399898290634, 0.0, 0.0, -0.2684151232242584, 0.0, 0.0, 0.0, -0.151286780834198, 0.0, 0.0, 0.0, -0.1899682730436325, 0.0, 0.0, 0.0, -0.20329636335372925, 0.0, 0.0, 0.0, 0.0, -0.11782784014940262, 0.0, 0.0, 0.9398519992828369, -1.0729844570159912, -0.24322772026062012, 1.1117808818817139, -1.7599083185195923, -0.7699999809265137, -0.4234161376953125, 0.0, -0.1713298261165619, -0.2070537507534027, -0.17595811188220978, 0.0, 0.0, -0.14482171833515167, 0.0, 0.0, 0.0, -0.09924806654453278, 0.0, 0.0, 0.0, -0.15056458115577698, 0.0, 0.0, -2.5511366352759524e-09, 0.0, -0.1681695580482483, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440842509269714, -0.0005796581390313804, -2.0905396013404243e-05, -1.9857649336708317e-18, -0.7059847712516785], "max": [1.2366116046905518, -0.514533281326294, -0.001061233109794557, 1.5680197477340698, 0.21926338970661163, 0.30071431398391724, 0.8471042513847351, 1.3732722997665405, 0.2931087911128998, 0.0, 0.237664595246315, 0.701458752155304, 0.5213028192520142, 0.12158938497304916, 0.04604858532547951, 0.04545216262340546, 0.2941551208496094, 0.2202250212430954, 0.05516624450683594, 0.03787607699632645, 0.12543414533138275, 0.2574877142906189, 0.025925010442733765, 0.021672064438462257, 0.26180002093315125, 0.030604572966694832, 0.27922767400741577, 0.00781076867133379, 0.007651765830814838, 1.3836172819137573, -0.27532026171684265, 0.0, 1.852995753288269, 0.05703948065638542, -0.18509215116500854, 0.7599691152572632, 1.395705223083496, 0.29173076152801514, 0.247519850730896, 0.29245924949645996, 0.3607574999332428, 1.2020562887191772, 0.12821310758590698, 0.39730367064476013, 0.6040191650390625, 1.4824820756912231, 0.2193344384431839, 1.3583006858825684, 0.7509233355522156, 1.4701855182647705, 0.22785989940166473, 1.4553101062774658, 0.8209713697433472, 0.13711152970790863, 1.3701382875442505, 0.209211528301239, 1.4470617771148682, 1.4625071287155151, 0.5626999735832214, -1.106863021850586, 0.5442338585853577, 0.0004177246300969273, 3.16921214107424e-05, 0.10230667144060135, -0.5675000548362732], "mean": [1.149927020072937, -0.5567712187767029, -0.22041679918766022, 1.0040816068649292, 0.20566916465759277, 0.16188696026802063, 0.21537348628044128, 1.3309680223464966, 0.2862044870853424, -0.1192331314086914, 0.18360339105129242, 0.6684097051620483, 0.474692702293396, 0.11259488761425018, 0.04310861602425575, 0.04269464313983917, 0.21795834600925446, 0.19743502140045166, 0.04421202465891838, 0.03164916858077049, 0.06795511394739151, 0.2235349863767624, 0.0166599303483963, 0.014613969251513481, 0.1813245415687561, 0.006494803819805384, 0.24594014883041382, 0.0018304514233022928, 0.0018071952508762479, 1.233476161956787, -0.6111509799957275, -0.22426579892635345, 1.346365213394165, -1.3590267896652222, -0.4043082892894745, -0.0862269401550293, 1.2414273023605347, 0.056110918521881104, 0.03055095486342907, -0.04358619078993797, 0.16597989201545715, 0.9237788319587708, 0.04348534345626831, 0.13887973129749298, 0.3065335750579834, 1.1909115314483643, -0.06104063242673874, 1.140284538269043, 0.5139448642730713, 1.3019511699676514, -0.11298853904008865, 1.2503433227539062, 0.5232096314430237, 0.024786770343780518, 1.2268967628479004, -0.13055244088172913, 1.06661856174469, 1.3338435888290405, 0.5626884698867798, -1.1068472862243652, 0.5441444516181946, -0.00039203852065838873, -9.77765921561513e-07, 0.07231611758470535, -0.67462158203125], "std": [0.05353771895170212, 0.0333457849919796, 0.024284539744257927, 0.08871713280677795, 0.04782390594482422, 0.15577970445156097, 0.1312505006790161, 0.15689675509929657, 0.03802276775240898, 0.036498378962278366, 0.033788036555051804, 0.08845340460538864, 0.06717419624328613, 0.024456659331917763, 0.005942827090620995, 0.0058479453437030315, 0.054471489042043686, 0.04074907675385475, 0.009080176241695881, 0.006221866235136986, 0.03280673176050186, 0.04847916215658188, 0.005394283216446638, 0.004870695993304253, 0.09910803288221359, 0.00860491581261158, 0.04385453835129738, 0.00240100990049541, 0.0023697514552623034, 0.10726764053106308, 0.16987298429012299, 0.02677915245294571, 0.16266591846942902, 0.3517630100250244, 0.12512630224227905, 0.21862836182117462, 0.1789575070142746, 0.06813836097717285, 0.08168633282184601, 0.08545339107513428, 0.08727041631937027, 0.2164117842912674, 0.025983208790421486, 0.09976276010274887, 0.16166412830352783, 0.24203570187091827, 0.02577861398458481, 0.26494231820106506, 0.1521245241165161, 0.27210909128189087, 0.04516037181019783, 0.2833196520805359, 0.16379886865615845, 0.010097038932144642, 0.2580823302268982, 0.04999100789427757, 0.26853039860725403, 0.29862865805625916, 5.247244644124294e-06, 1.6769567082519643e-05, 1.6449745089630596e-05, 0.0001229319314006716, 4.965756033925572e-06, 0.019732987508177757, 0.028455018997192383], "count": [1994]}, "observation.state.tcp_pose": {"min": [0.3618515431880951, 0.1749029904603958, 0.9415746927261353, -1.4861427545547485, 1.2182313203811646, -1.7567592859268188, 0.23150016367435455, -0.25786739587783813, 0.9470603466033936, -0.6751605868339539, 1.2176599502563477, 0.3515767753124237], "max": [0.4393936097621918, 0.2186562418937683, 1.0516587495803833, -0.9178117513656616, 2.003206968307495, -1.2295693159103394, 0.4513916075229645, -0.027059059590101242, 1.120669960975647, 1.20885169506073, 1.9457154273986816, 1.5075819492340088], "mean": [0.42271625995635986, 0.19910235702991486, 0.9805479645729065, -1.3844343423843384, 1.809531569480896, -1.5906037092208862, 0.3877013623714447, -0.13749103248119354, 1.0469396114349365, -0.1717945784330368, 1.6689621210098267, 0.6689915060997009], "std": [0.01293628104031086, 0.009724892675876617, 0.02984771318733692, 0.0894574299454689, 0.1560031622648239, 0.05862943455576897, 0.05197223648428917, 0.06198437511920929, 0.04432820528745651, 0.335297167301178, 0.11736933887004852, 0.20343448221683502], "count": [1994]}, "action.tcp_pose": {"min": [0.36207470297813416, 0.17490455508232117, 0.9415224194526672, -1.486354947090149, 1.2190128564834595, -1.7569166421890259, 0.2302343100309372, -0.25885048508644104, 0.9470729827880859, -0.6751976609230042, 1.217836856842041, 0.3513219952583313], "max": [0.4394470751285553, 0.21861198544502258, 1.0515449047088623, -0.8294790387153625, 2.0032074451446533, -1.230552315711975, 0.4513580799102783, -0.02693026326596737, 1.120518445968628, 1.2088515758514404, 1.9465880393981934, 1.517933964729309], "mean": [0.4227188527584076, 0.19909243285655975, 0.9806327223777771, -1.3837345838546753, 1.8083056211471558, -1.59137761592865, 0.38778170943260193, -0.1375560462474823, 1.0474494695663452, -0.17447377741336823, 1.6667423248291016, 0.6688125729560852], "std": [0.012987828813493252, 0.009743931703269482, 0.02985917404294014, 0.09269940853118896, 0.15846464037895203, 0.05889395251870155, 0.05190340429544449, 0.062074001878499985, 0.04444423317909241, 0.3315204679965973, 0.12092176079750061, 0.20382952690124512], "count": [1994]}, "subtask_index": {"min": [50], "max": [1349], "mean": [1287.6308926780341], "std": [216.54713378837735], "count": [1994]}, "observation.tactile": {"min": [-0.003261876991018653, -4.523684037849307e-05, -9.992977720685303e-05, -0.0009881012374535203, -3.051430030609481e-05, -7.159765664255247e-05, -0.005822324194014072, -5.065125515102409e-05, -0.000115765564260073, -0.0006196398171596229, -1.8330234524910338e-05, -0.00012337241787463427, -0.004481091629713774, -4.448583422345109e-05, -9.810608753468841e-05, -0.0009612698340788484, -3.891698725055903e-05, -0.00012168860848760232, -0.009127268567681313, -3.38802783517167e-05, -7.295708928722888e-05, -0.0006220939103513956, -1.7845530237536877e-05, -0.00017842052329797298, -0.018528731539845467, -4.633159187505953e-05, -0.00010210311302216724, -0.0008148361812345684, -0.000140225442009978, -0.0003782889689318836, -1.9979604482650757, -3.8576163206016645e-05, -8.612600504420698e-05, -0.3605213165283203, -0.02136274240911007, -0.049167975783348083, -7.36223840713501, -0.27645573019981384, -0.00010658115934347734, -0.22317907214164734, -0.025470787659287453, -0.1288418173789978, -0.008478179574012756, -4.6497028961312026e-05, -0.00010297586413798854, -0.0010971777373924851, -5.4436412028735504e-05, -0.00017882809333968908, -0.014648725278675556, -5.574840179178864e-05, -0.0001254627131856978, -0.0021072179079055786, -1.4787976397201419e-05, -0.00034053620765917003, -0.7344600558280945, -4.1139435779768974e-05, -9.151078120339662e-05, -0.003587735118344426, -0.0015641979407519102, -0.011428462341427803], "max": [0.02390609309077263, 0.018825974315404892, 0.05172700807452202, 1.8785011661748285e-06, 0.00029228487983345985, 0.0003843992599286139, 0.00036662735510617495, 0.009851982817053795, 0.029632052406668663, 2.0042023152200272e-06, 4.045079549541697e-05, 7.219801773317158e-06, 0.002785029821097851, 0.016932561993598938, 0.049824878573417664, 1.8370001271250658e-06, 0.00015558974700979888, 1.0304966963303741e-05, 0.00026489290758036077, 0.015042015351355076, 0.0436992347240448, 1.3462638435157714e-06, 5.715492079616524e-05, 5.524791959032882e-06, 0.005939822178333998, 0.01641448214650154, 0.047163233160972595, 1.8876029344028211e-06, 0.00018017178808804601, 6.279338413150981e-05, 10.223006248474121, 11.343031883239746, 21.918046951293945, 1.5922473721730057e-06, 0.06941487640142441, 0.1747003048658371, 0.016203083097934723, 10.268306732177734, 13.72935676574707, 2.0216434677422512e-06, 0.01216300018131733, 0.005608683452010155, 0.003350587794557214, 0.019051209092140198, 0.05437254160642624, 1.8856187580240658e-06, 0.00019692821661010385, 1.6057867469498888e-05, 0.07885219901800156, 0.03748388588428497, 0.12646333873271942, 2.2773788259655703e-06, 0.0007355305715464056, 0.0011609785724431276, 0.0024662583600729704, 0.08789752423763275, 0.2161804437637329, 1.6779586076154374e-06, 0.00016455248987767845, 6.889574706292478e-06], "mean": [-3.2458607165608555e-05, 0.0019082340877503157, 0.005512728355824947, -6.544501229654998e-05, 2.0216322809574194e-05, -5.2538621275743935e-06, 0.00018095351697411388, 0.00013306089385878295, 0.00042267885874025524, -8.484252248308621e-06, -7.734507221357489e-07, 3.193634029230452e-06, 0.0001399261091137305, 0.0004969806177541614, 0.0014717072481289506, -2.6888423235504888e-05, 4.937990638609335e-07, 3.1697047688794555e-06, -0.0009845909662544727, 0.003214700846001506, 0.009365115314722061, -0.00013572680472861975, 6.750325610482832e-06, -1.5279059880413115e-05, 7.309250577236526e-06, 0.004846266470849514, 0.01406960841268301, -0.00024193026183638722, 4.877865285379812e-05, -1.5686444385210052e-05, 2.5922157764434814, 3.515256404876709, 7.437428951263428, -0.12772449851036072, 0.01627751998603344, 0.03715929388999939, -1.6903194189071655, 1.0830888748168945, 4.747239112854004, -0.07637035846710205, -0.0032211646903306246, -0.0268718209117651, -0.0005430515739135444, 0.002492329105734825, 0.0073620593175292015, -0.0001510083966422826, 1.2332910955592524e-05, -1.5900228390819393e-05, -0.0015162015333771706, 0.007611975539475679, 0.022073473781347275, -0.0005052960477769375, 2.710975422814954e-05, -4.59676084574312e-05, -0.0025924539659172297, 0.004911412484943867, 0.013905015774071217, -0.00029168277978897095, -1.0372900760557968e-05, -4.650601476896554e-05], "std": [0.0007311473600566387, 0.002936191391199827, 0.008325732313096523, 9.74936701823026e-05, 3.822570215561427e-05, 1.7775553715182468e-05, 0.0005688163219019771, 0.000701978278812021, 0.002068839967250824, 4.089436697540805e-05, 4.341503881732933e-06, 1.2561847142933402e-05, 0.0004720288561657071, 0.0012371203629299998, 0.0036135027185082436, 7.163961709011346e-05, 1.3936400137026794e-05, 8.521860763721634e-06, 0.0011419510701671243, 0.003349657403305173, 0.00973297655582428, 0.0001423326029907912, 8.844999683788046e-06, 1.9125551261822693e-05, 0.0007883293437771499, 0.003472532844170928, 0.009943514131009579, 0.00017170743376482278, 3.6791290767723694e-05, 1.6935300664044917e-05, 2.953842878341675, 3.469928741455078, 7.135199546813965, 0.12410159409046173, 0.02016187086701393, 0.046031467616558075, 1.7815594673156738, 1.4263492822647095, 4.63773250579834, 0.0749957263469696, 0.00661265617236495, 0.02903471142053604, 0.0012616664171218872, 0.0032324055209755898, 0.009428253397345543, 0.00020451843738555908, 1.838559728639666e-05, 2.8941271011717618e-05, 0.0033524110913276672, 0.005664182361215353, 0.016475265845656395, 0.0003758357197511941, 3.318718881928362e-05, 5.830750160384923e-05, 0.02120334841310978, 0.004772034473717213, 0.012615872547030449, 0.0002539036504458636, 4.1552557377144694e-05, 0.00032584567088633776], "count": [1994]}, "timestamp": {"min": [0.0], "max": [66.43333333333334], "mean": [33.21666666666666], "std": [19.1872715332037], "count": [1994]}, "frame_index": {"min": [0], "max": [1993], "mean": [996.5], "std": [575.6181459961109], "count": [1994]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1994]}, "index": {"min": [58379], "max": [60372], "mean": [59375.5], "std": [575.6181459961109], "count": [1994]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1994]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.555587112903595]], [[0.556047797203064]], [[0.5565029382705688]]], "std": [[[0.2898956835269928]], [[0.28913643956184387]], [[0.2898502051830292]]], "count": [1994]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30219799280166626]], [[0.30507394671440125]], [[0.30248361825942993]]], "std": [[[0.18365740776062012]], [[0.18338458240032196]], [[0.1832781285047531]]], "count": [1994]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30881375074386597]], [[0.3119215965270996]], [[0.308736652135849]]], "std": [[[0.1846640557050705]], [[0.1832749843597412]], [[0.1824885606765747]]], "count": [1994]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5566759705543518]], [[0.5568341612815857]], [[0.5568864345550537]]], "std": [[[0.297201544046402]], [[0.2967982292175293]], [[0.29769545793533325]]], "count": [1994]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6431372761726379]], [[0.6431372761726379]], [[0.6431372761726379]]], "mean": [[[0.0040212878957390785]], [[0.0040212878957390785]], [[0.0040212878957390785]]], "std": [[[0.04045211896300316]], [[0.04045211896300316]], [[0.04045211896300316]]], "count": [1994]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4902280867099762]], [[0.4902280867099762]], [[0.4902280867099762]]], "std": [[[0.22127245366573334]], [[0.22127245366573334]], [[0.22127245366573334]]], "count": [1994]}}}
+{"episode_index": 26, "stats": {"observation.state": {"min": [0.9719142913818359, -0.7792680859565735, -0.2241545021533966, 0.8512017726898193, -0.06635245680809021, -0.7676156163215637, 0.22241762280464172, 0.006914148107171059, -0.0006531464168801904, -0.22730204463005066, 0.0055222585797309875, 0.0034945716615766287, 0.0036411986220628023, -0.09085382521152496, 0.003497053636237979, 0.0008367390255443752, -0.0033161556348204613, -0.11313792318105698, 0.0030733507592231035, 0.0008296442101709545, -0.0032143513672053814, -0.026887662708759308, 0.002792537212371826, 0.0008265402866527438, 0.00583768030628562, -0.006776060443371534, -0.025964299216866493, -0.006554803811013699, -0.003648926969617605, 0.9087307453155518, -1.0311964750289917, -0.24256359040737152, 1.0841110944747925, -1.6886165142059326, -0.7699406147003174, -0.366685152053833, 0.005487702786922455, -0.23184870183467865, -0.24672958254814148, -0.15970173478126526, 0.0032541779801249504, 0.005225437693297863, -0.15916451811790466, 0.0035832123830914497, 0.0007839716854505241, -0.0016389440279453993, -0.12520690262317657, 0.004613571800291538, 0.001152899581938982, -0.0018418194958940148, -0.1616782695055008, 0.0035452742595225573, 0.0008744299411773682, 0.0061373780481517315, -0.001856537302955985, -0.1786014437675476, 0.00325807835906744, 0.0008877326035872102, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.000862864195369184, -9.58738019107841e-05, -9.58738019107841e-05, -0.8030389547348022], "max": [1.256057858467102, -0.46295952796936035, -0.0015965384664013982, 1.568188190460205, 0.17770245671272278, 0.2347443699836731, 0.6981480717658997, 1.3803222179412842, 0.2839013934135437, 0.0018343760166317225, 0.2386980950832367, 0.5189478397369385, 0.39056938886642456, 0.13250423967838287, 0.033836644142866135, 0.03160674124956131, 0.1863742470741272, 0.1998925507068634, 0.026322748512029648, 0.022263819351792336, 0.031376663595438004, 0.22176524996757507, 0.0030595229472965, 0.004486109130084515, 0.2787219285964966, 0.023191755637526512, 0.24983681738376617, 0.007036654744297266, 0.009802306070923805, 1.4169416427612305, -0.3099152445793152, -3.1638355721952394e-05, 1.6605573892593384, 0.0410417765378952, -0.17381499707698822, 0.5903441309928894, 1.4215244054794312, 0.25083696842193604, 0.30210065841674805, 0.2994660437107086, 0.4238494038581848, 1.1501387357711792, 0.08797970414161682, 0.3820705711841583, 0.506259024143219, 1.2810616493225098, 0.15606816112995148, 1.3796324729919434, 0.7675902843475342, 1.4330374002456665, 0.19740357995033264, 1.506578803062439, 1.1688028573989868, 0.23431318998336792, 1.3561218976974487, 0.2243366539478302, 1.4941843748092651, 1.3110910654067993, 0.5631626844406128, -1.106479525566101, 0.5443714261054993, 9.58738019107841e-05, 9.58738019107841e-05, 0.08734103292226791, -0.5997864603996277], "mean": [1.0971488952636719, -0.5589156150817871, -0.22124364972114563, 1.0422449111938477, 0.12673065066337585, 0.09418956935405731, 0.3741097152233124, 1.3158148527145386, 0.2545197606086731, -0.04644671827554703, 0.14656023681163788, 0.48894748091697693, 0.3692464530467987, 0.11769994348287582, 0.03294616937637329, 0.030373552814126015, 0.16410017013549805, 0.18080325424671173, 0.025112567469477654, 0.020467840135097504, 0.012578093446791172, 0.17783886194229126, 0.00283591216430068, 0.002418301999568939, 0.2408115565776825, 0.000901873572729528, 0.2102063000202179, 0.0023499871604144573, 0.001427756855264306, 1.2263232469558716, -0.6285148859024048, -0.22820520401000977, 1.3189201354980469, -1.2662994861602783, -0.4111398160457611, -0.006345881149172783, 1.2409738302230835, 0.0686887726187706, -0.028538571670651436, -0.035655878484249115, 0.18279072642326355, 0.854129433631897, 0.04351074993610382, 0.13925181329250336, 0.20662322640419006, 1.1359388828277588, -0.05368882790207863, 1.1805037260055542, 0.4982728362083435, 1.2621031999588013, -0.10047317296266556, 1.3050342798233032, 0.7097839117050171, 0.031178506091237068, 1.1984992027282715, -0.1174296960234642, 1.0105317831039429, 1.2385072708129883, 0.5626911520957947, -1.106852412223816, 0.5440801978111267, -0.0005273409769870341, 3.3003030353029317e-07, 0.04820554330945015, -0.749326765537262], "std": [0.07715028524398804, 0.053584590554237366, 0.020923679694533348, 0.12087225914001465, 0.08390919119119644, 0.14073535799980164, 0.11119382828474045, 0.13097941875457764, 0.03801168501377106, 0.01905926689505577, 0.023432692512869835, 0.057480551302433014, 0.0469183586537838, 0.024105988442897797, 0.0040269214659929276, 0.003721291432157159, 0.03343723714351654, 0.03800043836236, 0.0044450596906244755, 0.0037530814297497272, 0.008315934799611568, 0.039821259677410126, 3.381349233677611e-05, 0.0009611626155674458, 0.026675008237361908, 0.0038598717655986547, 0.04371156170964241, 0.002329766983166337, 0.0014682187465950847, 0.10788886994123459, 0.1491900235414505, 0.023801492527127266, 0.1459135115146637, 0.31886205077171326, 0.12215276807546616, 0.20773686468601227, 0.1637369841337204, 0.08234424889087677, 0.09182670712471008, 0.08667078614234924, 0.11285603791475296, 0.20177529752254486, 0.030993033200502396, 0.08979765325784683, 0.1151881217956543, 0.21909800171852112, 0.034065425395965576, 0.26613450050354004, 0.14342008531093597, 0.25914838910102844, 0.04836433753371239, 0.2943027913570404, 0.25392401218414307, 0.025861483067274094, 0.24599845707416534, 0.05599532276391983, 0.31022194027900696, 0.27624401450157166, 5.6880893680499867e-05, 5.1045557484030724e-05, 5.450539174489677e-05, 0.00016010517720133066, 1.615339715499431e-05, 0.020427528768777847, 0.03535620495676994], "count": [2324]}, "observation.state.joint_torque": {"min": [-40.528499603271484, -3.808500051498413, -21.243999481201172, -5.9629998207092285, -0.6535999774932861, -1.25600004196167, -5.957600116729736, -0.333664208650589, -0.46738457679748535, -0.45855242013931274, -0.4138156473636627, -0.09131408482789993, -0.4519076645374298, -0.6773817539215088, -0.05810895934700966, -0.04138316959142685, -0.345407098531723, -0.5315431952476501, -0.13614100217819214, -0.03496164828538895, -0.24946069717407227, -0.4634212553501129, -0.0016602561809122562, -0.03710215538740158, -0.49125784635543823, -1.133127212524414, -0.5008403062820435, -1.054262638092041, -0.21333740651607513, 11.95199966430664, -5.902500152587891, 1.11899995803833, -7.414999961853027, -2.158400058746338, -2.6703999042510986, -3.5399999618530273, -1.8402471542358398, -0.9411368370056152, -0.603947103023529, -1.3184936046600342, -0.19092944264411926, -0.5823947787284851, -0.8251392841339111, -0.19923073053359985, -0.06635577231645584, -1.2597765922546387, -1.070762038230896, -0.3868396580219269, -0.04209667816758156, -0.3550017476081848, -0.2964744567871094, -0.3104678690433502, -0.06920978426933289, -0.1592079997062683, -0.7176792621612549, -0.3933803141117096, -0.5827499032020569, -0.09703640639781952, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-3.6524999141693115, 11.344499588012695, 4.4770002365112305, 4.283999919891357, 1.548799991607666, 4.104800224304199, 3.08240008354187, 0.3209289312362671, 0.32474952936172485, 0.3355261981487274, 0.4908623993396759, 0.09131408482789993, 0.3550017774105072, 0.2580958902835846, 0.0796922892332077, 0.01783757284283638, 0.4029749929904938, 0.27536624670028687, 0.11621791869401932, 0.013556556776165962, 0.32046106457710266, 0.4451913833618164, 0.0016602561809122562, 0.010702544823288918, 0.060252752155065536, 0.5862327218055725, 2.142483711242676, 0.0016602561809122562, 0.0007135029300116003, 38.9114990234375, 12.536999702453613, 22.155000686645508, 4.311999797821045, 0.6687999963760376, 3.480799913406372, 3.10479998588562, 2.981328010559082, 5.010056972503662, 2.2542388439178467, 1.4812859296798706, 0.6375383138656616, 2.1472809314727783, 0.7186387181282043, 1.0592433214187622, 0.21547789871692657, 0.6927332282066345, 0.2907176911830902, 0.12451920658349991, 0.04709119349718094, 0.38186678290367126, 0.3051096498966217, 0.12783971428871155, 0.10131742060184479, 0.12754231691360474, 0.47013747692108154, 0.74262535572052, 0.22247432172298431, 0.0763448178768158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.623516082763672, 1.704304814338684, -11.123800277709961, -1.536139726638794, -0.0975944921374321, -0.3659089207649231, 1.1400964260101318, -0.007645005360245705, 0.001848363783210516, -0.00030960197909735143, -0.014899984002113342, 0.001873863977380097, 0.007641426287591457, 0.0005263849161565304, 0.0003564842918422073, -5.8025518228532746e-05, 0.009569433517754078, 0.0025196245405822992, 0.0015588125679641962, -4.02189398300834e-05, 0.020172270014882088, 0.03128044307231903, -9.287145076086745e-06, -0.0029832639265805483, -0.014271019026637077, -0.07907117903232574, 0.15258415043354034, -0.06441424041986465, -0.013076053000986576, 26.878536224365234, 1.208609700202942, 12.668397903442383, -2.1099650859832764, -0.6187444925308228, 1.4402798414230347, -1.037785291671753, 0.3214740455150604, 1.3637537956237793, 0.39477095007896423, 0.1356346607208252, 0.11246545612812042, 0.7611302733421326, -0.04514843225479126, 0.3839736580848694, 0.08921078592538834, -0.09701156616210938, -0.14371159672737122, 0.0015423886943608522, -0.0010502984514459968, -0.01888171210885048, -0.014866314828395844, -0.0023203545715659857, -0.002794453874230385, -0.004265725612640381, -0.03424430266022682, 0.001350841368548572, -0.021220406517386436, -0.00037363835144788027, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [4.323551177978516, 1.6574766635894775, 3.267021417617798, 0.9080227017402649, 0.33660492300987244, 0.7673884630203247, 1.4098018407821655, 0.03581257537007332, 0.043520569801330566, 0.05864601209759712, 0.06226359307765961, 0.012209146283566952, 0.05257461220026016, 0.05662795528769493, 0.006444656290113926, 0.003845100523903966, 0.04625167325139046, 0.046811703592538834, 0.013968666084110737, 0.004118728451430798, 0.04739250987768173, 0.0793323740363121, 0.0001915269676828757, 0.007724203169345856, 0.07376252114772797, 0.2589353322982788, 0.3697125017642975, 0.18571554124355316, 0.03954228758811951, 4.205618858337402, 2.2239434719085693, 2.029249429702759, 1.5869935750961304, 0.30594292283058167, 0.7312296032905579, 0.6145521402359009, 0.7368595600128174, 1.642228126525879, 0.5971552133560181, 0.365927517414093, 0.15726642310619354, 0.9303287267684937, 0.17367032170295715, 0.45299768447875977, 0.10234715044498444, 0.2334870994091034, 0.2062777429819107, 0.030590394511818886, 0.008842717856168747, 0.07875535637140274, 0.05828410014510155, 0.029755476862192154, 0.010318833403289318, 0.02301762066781521, 0.1441846638917923, 0.10148076713085175, 0.058824535459280014, 0.012733133509755135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2324]}, "observation.state.tcp": {"min": [0.36204177141189575, 0.17602024972438812, 0.9075177907943726, -1.4656805992126465, 1.2183135747909546, -1.6828022003173828, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.253318727016449, -0.29910802841186523, 0.9228135347366333, -0.6334030032157898, 1.21774423122406, 0.40235885977745056, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4189695417881012, 0.21351395547389984, 1.0560684204101562, -1.0216377973556519, 1.8910560607910156, -1.2300904989242554, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4482530653476715, -0.0412365086376667, 1.1452687978744507, 1.211700677871704, 1.925411581993103, 1.4138710498809814, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.404396653175354, 0.1907331496477127, 0.9626003503799438, -1.291394591331482, 1.7243489027023315, -1.6167640686035156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3913460373878479, -0.1532329022884369, 1.0413095951080322, -0.1148715540766716, 1.6875989437103271, 0.7309908270835876, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010512089356780052, 0.007089605554938316, 0.03965792432427406, 0.10003954917192459, 0.11994694918394089, 0.05446770787239075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.049844566732645035, 0.06013334542512894, 0.04570072516798973, 0.2979230582714081, 0.11753938347101212, 0.1800631284713745, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2324]}, "action": {"min": [0.9719286561012268, -0.7790535092353821, -0.22415295243263245, 0.8511856198310852, -0.06810326874256134, -0.7657111883163452, 0.22242438793182373, 0.0, 0.0, -0.23284880816936493, 0.0, 0.0, 0.0, -0.09413227438926697, 0.0, 0.0, 0.0, -0.12376251071691513, 0.0, 0.0, 0.0, -0.13296066224575043, 0.0, 0.0, 0.0, 0.0, -0.09667637944221497, 0.0, 0.0, 0.9087324142456055, -1.031486988067627, -0.24256041646003723, 1.0840857028961182, -1.6886218786239624, -0.7699999809265137, -0.36671605706214905, 0.0, -0.23746952414512634, -0.24883748590946198, -0.1543133407831192, 0.0, 0.0, -0.16073109209537506, 0.0, 0.0, 0.0, -0.1323666274547577, 0.0, 0.0, 0.0, -0.16641081869602203, 0.0, 0.0, -6.667857377351538e-09, 0.0, -0.18412844836711884, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439888834953308, -0.0008723852224647999, -9.543516353005543e-05, -1.5228271000009357e-18, -0.8031611442565918], "max": [1.2562575340270996, -0.462962806224823, -0.002103684702888131, 1.5675002336502075, 0.17779169976711273, 0.23475514352321625, 0.8853617310523987, 1.3870673179626465, 0.28363168239593506, 0.0, 0.24669888615608215, 0.5227890014648438, 0.3965310752391815, 0.13497722148895264, 0.03892475739121437, 0.03647901490330696, 0.18915878236293793, 0.20595812797546387, 0.030604910105466843, 0.026134522631764412, 0.029673738405108452, 0.23027339577674866, 0.009997082874178886, 0.008525666780769825, 0.26180002093315125, 0.0, 0.25667673349380493, 0.0, 0.0, 1.4168992042541504, -0.3099176287651062, 0.0, 1.6607004404067993, 0.041012294590473175, -0.17385414242744446, 0.5926564931869507, 1.4211030006408691, 0.28028541803359985, 0.30817726254463196, 0.2995457053184509, 0.42761117219924927, 1.2338200807571411, 0.0932210236787796, 0.4122515320777893, 0.6983348727226257, 1.4010987281799316, 0.20063641667366028, 1.3835958242416382, 0.8161328434944153, 1.4381742477416992, 0.2369932234287262, 1.5301032066345215, 1.169732689857483, 0.2617930769920349, 1.3604466915130615, 0.2551861107349396, 1.511374592781067, 1.4518769979476929, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, -1.387000779933718e-20, 2.7866828531841747e-05, 0.08807311952114105, -0.6000000238418579], "mean": [1.0972175598144531, -0.5589951276779175, -0.22125792503356934, 1.0424432754516602, 0.1267242282629013, 0.09400083124637604, 0.3751368224620819, 1.3191581964492798, 0.2578030526638031, -0.04496322199702263, 0.1475563645362854, 0.49447178840637207, 0.3721429705619812, 0.11897054314613342, 0.036758262664079666, 0.03484981507062912, 0.16474302113056183, 0.18504822254180908, 0.027559839189052582, 0.023529717698693275, 0.01259823702275753, 0.18461757898330688, 0.0048154499381780624, 0.004171883687376976, 0.2579592764377594, 0.0, 0.2188318967819214, 0.0, 0.0, 1.2272502183914185, -0.629146933555603, -0.2282266467809677, 1.3193625211715698, -1.2669856548309326, -0.4116652011871338, -0.0063059087842702866, 1.242969036102295, 0.0735449567437172, -0.02754903770983219, -0.03540465980768204, 0.1828904151916504, 0.8680993318557739, 0.03981245681643486, 0.14931988716125488, 0.27338990569114685, 1.137548565864563, -0.053788743913173676, 1.1828569173812866, 0.4998304545879364, 1.263224720954895, -0.1009552925825119, 1.3074445724487305, 0.7121057510375977, 0.029434315860271454, 1.1995452642440796, -0.11845437437295914, 1.012366533279419, 1.3222932815551758, 0.5626963973045349, -1.106859564781189, 0.5441529154777527, -0.0005732240388169885, -3.088002245021926e-07, 0.0482587106525898, -0.7493763566017151], "std": [0.07720159739255905, 0.05368099734187126, 0.020857900381088257, 0.12117961049079895, 0.0839240774512291, 0.14109857380390167, 0.11430151760578156, 0.14740315079689026, 0.03822462633252144, 0.020291967317461967, 0.026528747752308846, 0.06201253458857536, 0.04946029186248779, 0.022319922223687172, 0.0048141200095415115, 0.0044931769371032715, 0.03328225389122963, 0.036175988614559174, 0.005233195144683123, 0.004464345518499613, 0.008321051485836506, 0.04112884774804115, 0.002946887630969286, 0.0025220373645424843, 0.031432244926691055, 0.0, 0.04465539753437042, 0.0, 0.0, 0.10757897049188614, 0.14949482679367065, 0.023734135553240776, 0.14619766175746918, 0.31735971570014954, 0.1226079910993576, 0.20793479681015015, 0.1730702519416809, 0.08532798290252686, 0.09225042164325714, 0.0859951451420784, 0.1140957772731781, 0.2135082185268402, 0.030375001952052116, 0.10255617648363113, 0.16935496032238007, 0.2143166959285736, 0.03525076061487198, 0.2625396251678467, 0.14349007606506348, 0.2534360885620117, 0.04859615117311478, 0.2904703915119171, 0.25410979986190796, 0.026825636625289917, 0.24039991199970245, 0.055901333689689636, 0.30862677097320557, 0.29350244998931885, 1.2979485290998127e-05, 5.239030087977881e-06, 1.889141640276648e-05, 0.0001465705718146637, 8.484406862407923e-06, 0.020457442849874496, 0.03541836887598038], "count": [2324]}, "observation.state.tcp_pose": {"min": [0.36204177141189575, 0.17602024972438812, 0.9075177907943726, -1.4656805992126465, 1.2183135747909546, -1.6828022003173828, 0.253318727016449, -0.29910802841186523, 0.9228135347366333, -0.6334030032157898, 1.21774423122406, 0.40235885977745056], "max": [0.4189695417881012, 0.21351395547389984, 1.0560684204101562, -1.0216377973556519, 1.8910560607910156, -1.2300904989242554, 0.4482530653476715, -0.0412365086376667, 1.1452687978744507, 1.211700677871704, 1.925411581993103, 1.4138710498809814], "mean": [0.404396653175354, 0.1907331496477127, 0.9626003503799438, -1.291394591331482, 1.7243489027023315, -1.6167640686035156, 0.3913460373878479, -0.1532329022884369, 1.0413095951080322, -0.1148715540766716, 1.6875989437103271, 0.7309908270835876], "std": [0.010512089356780052, 0.007089605554938316, 0.03965792432427406, 0.10003954917192459, 0.11994694918394089, 0.05446770787239075, 0.049844566732645035, 0.06013334542512894, 0.04570072516798973, 0.2979230582714081, 0.11753938347101212, 0.1800631284713745], "count": [2324]}, "action.tcp_pose": {"min": [0.36227184534072876, 0.17602530121803284, 0.9074872732162476, -1.4658024311065674, 1.2196751832962036, -1.682672381401062, 0.2522822618484497, -0.300563782453537, 0.922733724117279, -0.6335490942001343, 1.217836856842041, 0.40215864777565], "max": [0.4189853072166443, 0.21351931989192963, 1.0561867952346802, -0.9132471680641174, 1.8908885717391968, -1.2314057350158691, 0.44819727540016174, -0.04111919179558754, 1.145640254020691, 1.2088515758514404, 1.925623893737793, 1.4174089431762695], "mean": [0.40439432859420776, 0.19072964787483215, 0.9626754522323608, -1.290848731994629, 1.7233384847640991, -1.6173486709594727, 0.39149096608161926, -0.1534239798784256, 1.0418035984039307, -0.11561710387468338, 1.686033844947815, 0.730864942073822], "std": [0.010558648966252804, 0.007098465692251921, 0.03965253382921219, 0.10151364654302597, 0.12185494601726532, 0.05411330610513687, 0.04974077269434929, 0.06025952473282814, 0.04576396569609642, 0.295654833316803, 0.11901316791772842, 0.18021589517593384], "count": [2324]}, "subtask_index": {"min": [50], "max": [1414], "mean": [1348.2831325301204], "std": [210.34414029747776], "count": [2324]}, "observation.tactile": {"min": [-0.008742443285882473, -4.142549732932821e-05, -9.183485235553235e-05, -0.001943425857461989, -7.471406570402905e-05, -0.00020025830599479377, -0.011529437266290188, -5.431237514130771e-05, -0.00012462738959584385, -0.0006097284494899213, -1.615514702280052e-05, -0.0002536949177738279, -0.011941051110625267, -4.722350786323659e-05, -0.00010487365943845361, -0.0009591423440724611, -8.256422734120861e-05, -0.00021294339967425913, -0.026463020592927933, -3.717282379511744e-05, -8.236542635131627e-05, -0.002476134803146124, -9.954543929779902e-05, -0.0006044564070180058, -2.9803152084350586, -0.326411634683609, -0.2958803176879883, -0.02470119670033455, -0.004738218151032925, -0.047562163323163986, -4.439816951751709, -0.26326823234558105, -9.589879482518882e-05, -0.1972082406282425, -0.005700320936739445, -0.07845813035964966, -4.937217712402344, -0.3806198537349701, -0.00010185673454543576, -0.25055626034736633, -0.03795013204216957, -0.09007962793111801, -0.9980377554893494, -4.540303780231625e-05, -9.954896086128429e-05, -0.00369735574349761, -0.00042718800250440836, -0.012554289773106575, -0.016688520088791847, -5.043275450589135e-05, -0.00011370601714588702, -0.005779946688562632, -5.1692008128156886e-05, -0.00037209130823612213, -0.1261145919561386, -3.4057222364936024e-05, -7.439371984219179e-05, -0.0010339550208300352, -0.000194154039490968, -0.001976278144866228], "max": [0.011425788514316082, 0.028172098100185394, 0.08103372901678085, 1.744133328429598e-06, 0.0002916329831350595, 0.00012869508645962924, 0.0007046366808936, 0.009276698343455791, 0.028077848255634308, 2.1645082597387955e-06, 0.0001277707633562386, 7.827754416211974e-06, 0.0052241375669837, 0.01680396869778633, 0.04980786144733429, 1.9649278328870423e-06, 0.00020197425328660756, 4.244999581715092e-05, 0.0014860543888062239, 0.03502923250198364, 0.10371185839176178, 1.525335619589896e-06, 0.00017534747894387692, 6.041058441041969e-06, 0.015328429639339447, 2.5452842712402344, 1.1894044876098633, 0.00707247294485569, 0.0008156531257554889, 0.0001908249396365136, 5.780472755432129, 9.182624816894531, 12.002939224243164, 1.778298496901698e-06, 0.039663951843976974, 0.09433627128601074, 1.874503493309021, 8.606836318969727, 14.146398544311523, 1.934877218445763e-06, 0.007111037150025368, 0.059894710779190063, 0.005912618711590767, 0.14378876984119415, 0.28434109687805176, 1.8319348100703792e-06, 0.00026933697517961264, 4.522305243881419e-05, 0.3825901746749878, 0.12442466616630554, 0.34643253684043884, 2.0254765331628732e-06, 0.0018144729547202587, 0.005756898783147335, 0.032145243138074875, 0.022729691118001938, 0.05556903034448624, 1.3491962818079628e-06, 0.00018911944061983377, 0.000650018104352057], "mean": [-0.00016284386219922453, 0.0014729000395163894, 0.004316637292504311, -6.883884634589776e-05, 7.872608875914011e-06, -3.8842954381834716e-06, 0.00036195473512634635, -1.9294173398520797e-05, -2.2180976884556003e-05, 3.2966252661026374e-07, -1.735636487865122e-06, 7.016319614194799e-06, -9.150831465376541e-05, 0.0007794899865984917, 0.0023432299494743347, -4.255346721038222e-05, -2.5308377189503517e-06, -2.748980136857426e-07, -0.0003751105978153646, 0.0013470692792907357, 0.003911653999239206, -7.486554386559874e-05, 4.191256721242098e-06, -9.389283150085248e-06, -0.17986781895160675, 0.0612015575170517, 0.03509185463190079, -0.0006841176655143499, -0.0001958360953722149, -0.0033168161753565073, 1.2532069683074951, 2.022614002227783, 3.8390910625457764, -0.06180628389120102, 0.0060002547688782215, 0.01807621866464615, -1.356457233428955, 0.9323964715003967, 4.459660053253174, -0.0708889290690422, -0.005489652510732412, -0.020110946148633957, -0.002095123054459691, 0.0027938804123550653, 0.00811083149164915, -0.00015534109843429178, 1.8055117834592238e-05, -3.846592881018296e-05, -0.00019808243087027222, 0.0044144392013549805, 0.012992952018976212, -0.0002482437121216208, 2.1482726879185066e-05, -1.692458681645803e-05, -0.0001639040419831872, 0.003518822370097041, 0.010260868817567825, -0.00021212149295024574, 2.5825402190093882e-05, -1.1223909496038686e-05], "std": [0.0010317560518160462, 0.002845881972461939, 0.00817879755049944, 0.00015457627887371927, 2.6977200832334347e-05, 1.9276580133009702e-05, 0.00026227967464365065, 0.0003475910925772041, 0.0010323117021471262, 1.9242655980633572e-05, 4.6096547521301545e-06, 5.967548531771172e-06, 0.000967433035839349, 0.001680134329944849, 0.005027984268963337, 9.41874022828415e-05, 1.578403498569969e-05, 1.531210364191793e-05, 0.0020189175847917795, 0.0034495799336582422, 0.009948281571269035, 0.00022041273768991232, 1.5995336070773192e-05, 4.551100937533192e-05, 0.5436787605285645, 0.29488638043403625, 0.1421974003314972, 0.0028583656530827284, 0.0007147672586143017, 0.009862720966339111, 1.853045105934143, 2.3544418811798096, 4.340958595275879, 0.06946456432342529, 0.008070197887718678, 0.029455747455358505, 1.7205768823623657, 1.281108021736145, 4.991487503051758, 0.07991750538349152, 0.008187832310795784, 0.027584554627537727, 0.02945023775100708, 0.005458423402160406, 0.01373191736638546, 0.0002422940597170964, 3.0993600375950336e-05, 0.00037153749144636095, 0.015020867809653282, 0.006466726306825876, 0.01878078654408455, 0.00034936677548103034, 7.944693061290309e-05, 0.00022620128584094346, 0.004428671207278967, 0.003402402624487877, 0.009861908853054047, 0.00020350517297629267, 3.406738323974423e-05, 6.666175613645464e-05], "count": [2324]}, "timestamp": {"min": [0.0], "max": [77.43333333333334], "mean": [38.71666666666666], "std": [22.362698356365176], "count": [2324]}, "frame_index": {"min": [0], "max": [2323], "mean": [1161.5], "std": [670.8809506909553], "count": [2324]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [2324]}, "index": {"min": [60373], "max": [62696], "mean": [61534.5], "std": [670.8809506909553], "count": [2324]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2324]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5656019449234009]], [[0.5659242272377014]], [[0.5663323402404785]]], "std": [[[0.29819419980049133]], [[0.29759758710861206]], [[0.2983402907848358]]], "count": [2324]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3037411868572235]], [[0.30652227997779846]], [[0.30392909049987793]]], "std": [[[0.18366943299770355]], [[0.18360444903373718]], [[0.18332713842391968]]], "count": [2324]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30942302942276]], [[0.31253328919410706]], [[0.30914613604545593]]], "std": [[[0.18511039018630981]], [[0.184034064412117]], [[0.1829884648323059]]], "count": [2324]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5679618716239929]], [[0.5680029392242432]], [[0.5679822564125061]]], "std": [[[0.30439427495002747]], [[0.3041371703147888]], [[0.30514368414878845]]], "count": [2324]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6509804129600525]], [[0.6509804129600525]], [[0.6509804129600525]]], "mean": [[[0.0033973006065934896]], [[0.0033973006065934896]], [[0.0033973006065934896]]], "std": [[[0.03597397357225418]], [[0.03597397357225418]], [[0.03597397357225418]]], "count": [2324]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4901866912841797]], [[0.4901866912841797]], [[0.4901866912841797]]], "std": [[[0.2212071418762207]], [[0.2212071418762207]], [[0.2212071418762207]]], "count": [2324]}}}
+{"episode_index": 27, "stats": {"observation.state": {"min": [1.041174054145813, -0.7795445322990417, -0.224095419049263, 0.9892075657844543, -0.15051384270191193, -0.7687011361122131, 0.3156842589378357, 0.006896441802382469, -0.00027842336567118764, -0.2747448682785034, 0.00010966488480335101, 0.003489253344014287, 0.003677014261484146, -0.07198475301265717, 0.0034477694425731897, 0.0008429468725807965, -0.003362765535712242, -0.11312811076641083, 0.0030577501747757196, 0.0008331916178576648, -0.0032374116126447916, -0.026930836960673332, 0.0026464571710675955, 0.000859353574924171, 0.005732786376029253, -0.0031056744046509266, -0.026042554527521133, -0.000430084764957428, 0.00028556433971971273, 1.024667739868164, -1.0335692167282104, -0.24267132580280304, 1.0959720611572266, -1.7265645265579224, -0.7699801325798035, -0.31813371181488037, 0.00545174814760685, -0.14744633436203003, -0.19797663390636444, -0.16366253793239594, 0.003265524050220847, 0.005250950343906879, -0.13206146657466888, 0.0035768302623182535, 0.0008061428088694811, -0.0016556238988414407, -0.09483548998832703, 0.006425388157367706, 0.0008691088296473026, -0.0017937374068424106, -0.13759745657444, 0.0035346371587365866, 0.0008380693034268916, 0.0065740798600018024, -0.0004805703356396407, -0.15730801224708557, 0.0032364497892558575, 0.000868221977725625, 0.5624915957450867, -1.1069588661193848, 0.5438920855522156, -0.0006711165769957006, -0.0001917476038215682, -0.0001917476038215682, -0.7629637122154236], "max": [1.2451142072677612, -0.5510153770446777, -0.0004164518031757325, 1.568856954574585, 0.20317287743091583, 0.27182403206825256, 0.6981682777404785, 1.35592520236969, 0.2901163101196289, -0.0035753764677792788, 0.23896895349025726, 0.615633487701416, 0.4903116822242737, 0.1329546421766281, 0.046583179384469986, 0.0439937561750412, 0.22923581302165985, 0.1927332878112793, 0.030224710702896118, 0.02707185409963131, 0.03633053973317146, 0.19131538271903992, 0.008877190761268139, 0.008474254980683327, 0.24085086584091187, 0.0036372733302414417, 0.22129301726818085, -0.00038150965701788664, 0.00038622133433818817, 1.445528268814087, -0.35634586215019226, -3.1638355721952394e-05, 1.726489543914795, 0.0048383912071585655, -0.05561327561736107, 0.6981734037399292, 1.3912304639816284, 0.24351970851421356, 0.26216238737106323, 0.21387559175491333, 0.3082399368286133, 1.1118115186691284, 0.08243636786937714, 0.342668354511261, 0.6311291456222534, 1.2776075601577759, 0.13063053786754608, 1.4164769649505615, 0.8717525601387024, 1.4578981399536133, 0.15238109230995178, 1.5453994274139404, 1.3081800937652588, 0.21866896748542786, 1.4508122205734253, 0.1951018124818802, 1.512029767036438, 1.3081949949264526, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 9.58738019107841e-05, 0.09481918811798096, -0.5896238684654236], "mean": [1.1447243690490723, -0.6273072957992554, -0.22081728279590607, 1.1200804710388184, -0.02696026675403118, 0.09229665249586105, 0.4811333119869232, 1.3050756454467773, 0.2569934129714966, -0.21103514730930328, 0.16677552461624146, 0.5014389157295227, 0.30285561084747314, 0.07271133363246918, 0.02920132502913475, 0.026362750679254532, 0.1004580706357956, 0.13347217440605164, 0.01538984477519989, 0.013181935995817184, 0.007363640703260899, 0.1337881088256836, 0.0030589932575821877, 0.002343836473301053, 0.2369888871908188, 5.245950524113141e-05, 0.17466163635253906, -0.00040907980292104185, 0.0003370748308952898, 1.2755005359649658, -0.6241256594657898, -0.2277165651321411, 1.322819471359253, -1.3654428720474243, -0.2913164496421814, -0.022387897595763206, 1.2610366344451904, 0.06582587212324142, 0.005421362817287445, -0.06675189733505249, 0.11763039231300354, 0.8719491362571716, 0.03964314982295036, 0.08319088071584702, 0.17122992873191833, 1.1359678506851196, -0.056183408945798874, 1.1506011486053467, 0.5570903420448303, 1.258592963218689, -0.09854266792535782, 1.3168061971664429, 0.7616979479789734, 0.02105819620192051, 1.2166900634765625, -0.11623741686344147, 1.0181735754013062, 1.2502437829971313, 0.5626890659332275, -1.1068497896194458, 0.5440782904624939, -0.000437203940236941, 8.989572819473324e-08, 0.05800857022404671, -0.7123526334762573], "std": [0.06751620769500732, 0.050438981503248215, 0.021792469546198845, 0.11428473144769669, 0.12643729150295258, 0.1728605031967163, 0.07766025513410568, 0.13727526366710663, 0.043072327971458435, 0.030994286760687828, 0.05050089210271835, 0.09742501378059387, 0.09706395119428635, 0.035337042063474655, 0.006802813615649939, 0.007385132368654013, 0.07207642495632172, 0.052323855459690094, 0.009852082468569279, 0.008528335019946098, 0.01116321049630642, 0.048467062413692474, 0.001199080259539187, 0.001521886559203267, 0.026673858985304832, 0.0018125494243577123, 0.04926972836256027, 6.663294698228128e-06, 1.4366312825586647e-05, 0.10410072654485703, 0.15964694321155548, 0.02430582419037819, 0.16126225888729095, 0.3047902584075928, 0.12156201153993607, 0.18200257420539856, 0.1755307912826538, 0.06125417724251747, 0.0576518177986145, 0.06985040009021759, 0.0748063251376152, 0.23299077153205872, 0.028732432052493095, 0.05302658677101135, 0.10456091165542603, 0.2206524759531021, 0.02205832302570343, 0.25397223234176636, 0.1524324268102646, 0.2531135082244873, 0.03745117411017418, 0.28085312247276306, 0.29579100012779236, 0.020791947841644287, 0.24603508412837982, 0.04481513053178787, 0.2772579789161682, 0.2584240436553955, 4.0603074012324214e-05, 3.866168481181376e-05, 3.9022696000756696e-05, 0.00012028570927213877, 1.279627758776769e-05, 0.017410028725862503, 0.03728578984737396], "count": [2133]}, "observation.state.joint_torque": {"min": [-35.51100158691406, -8.475000381469727, -17.111000061035156, -9.378000259399414, -0.8615999817848206, -1.0255999565124512, -2.346400022506714, -0.40116119384765625, -0.45464932918548584, -0.33676886558532715, -0.4237571358680725, -0.1328205019235611, -0.38474518060684204, -0.8088283538818359, -0.26896145939826965, -0.0827663391828537, -0.27344730496406555, -0.5823947787284851, -0.13946151733398438, -0.03496164828538895, -0.2504201829433441, -0.5392189025878906, -0.0979551151394844, -0.03424813970923424, -0.1240239068865776, -0.12377088516950607, -0.4260021150112152, -0.0, -0.0007135029300116003, 5.770500183105469, -6.4079999923706055, -4.433000087738037, -7.374000072479248, -1.988800048828125, -4.90880012512207, -4.051199913024902, -1.7740238904953003, -0.799775242805481, -0.374049574136734, -0.4995611906051636, -0.1328205019235611, -1.317344307899475, -0.8462474346160889, -0.7321729063987732, -0.20334836840629578, -1.7040084600448608, -1.0947487354278564, -0.1859486699104309, -0.03139413148164749, -1.1091406345367432, -0.3741910457611084, -0.2125127911567688, -0.04851820319890976, -0.1372179388999939, -1.389304280281067, -0.428880512714386, -0.1494230479001999, -0.13913308084011078, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.612499237060547, 9.64050006866455, -5.678999900817871, 1.8029999732971191, 1.432800054550171, 1.6640000343322754, 2.9416000843048096, 0.40243467688560486, 0.3311171531677246, 0.34795308113098145, 0.3852337598800659, 0.09961536526679993, 0.39913710951805115, 1.8815094232559204, 0.08965382725000381, 0.016410568729043007, 0.3415692448616028, 0.3338935673236847, 0.11953844130039215, 0.012843053787946701, 0.2657715976238251, 0.3972181975841522, 0.06807050108909607, 0.015697065740823746, 0.05057712271809578, 0.1563926786184311, 0.29935285449028015, 0.0016602561809122562, 0.0007135029300116003, 40.26300048828125, 11.847000122070312, 22.2810001373291, 1.8289999961853027, 0.8151999711990356, 6.578400135040283, 2.683199882507324, 2.3178200721740723, 4.852139949798584, 2.03055477142334, 1.3843562602996826, 0.5810896754264832, 2.1434431076049805, 0.820341944694519, 1.0575830936431885, 0.21405088901519775, 0.5507324934005737, 0.20052802562713623, 0.09961536526679993, 0.025686107575893402, 0.34156927466392517, 0.21971732378005981, 0.10957689583301544, 0.027826614677906036, 0.11170948296785355, 0.4451914131641388, 0.3981776833534241, 0.14776279032230377, 0.05636673793196678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.40932846069336, 1.8335613012313843, -12.849627494812012, -1.7181848287582397, -0.300245076417923, -0.27756455540657043, 1.71518874168396, -0.0045716832391917706, 0.005738341249525547, 0.005937317386269569, -0.012668732553720474, 0.00598643533885479, 0.0204915814101696, 0.02815200947225094, -0.0007083137752488256, 0.0001926762197399512, 0.013588524423539639, 0.009499719366431236, 0.0021148258820176125, -0.0006322171539068222, 0.029353853315114975, 0.04822738096117973, -0.00023039689403958619, -0.002338202903047204, -0.0008748595719225705, 0.007794914301484823, 0.02739802934229374, 7.783667115290882e-07, 0.0, 27.4642333984375, 0.8514995574951172, 13.09797477722168, -1.8570106029510498, -0.48705098032951355, 1.5191115140914917, -0.9002683162689209, 0.12587971985340118, 1.347687005996704, 0.3152156174182892, 0.19377459585666656, 0.10696087777614594, 0.9111765027046204, -0.014503994025290012, 0.4082828164100647, 0.09754127264022827, -0.12897299230098724, -0.210842564702034, -0.0033384086564183235, -0.0014574462547898293, -0.01210103277117014, -0.013255272060632706, -0.0009854099480435252, -0.00348155340179801, -0.003216136945411563, -0.027081778272986412, 0.0033196653239428997, -0.015448994934558868, 0.0013484025839716196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8145095705986023, 1.0042574405670166, 0.9909073710441589, 0.7232305407524109, 0.42216092348098755, 0.37426355481147766, 0.2529546022415161, 0.039874907582998276, 0.0429413877427578, 0.0657084658741951, 0.07002908736467361, 0.016081303358078003, 0.0649692714214325, 0.11244022101163864, 0.011035764589905739, 0.0052182613871991634, 0.04762258753180504, 0.06844893097877502, 0.018063155934214592, 0.00600079819560051, 0.050692781805992126, 0.09727556258440018, 0.004641734529286623, 0.006376693025231361, 0.008979583159089088, 0.027551701292395592, 0.07265494763851166, 3.5940378438681364e-05, 2.184818367823027e-05, 3.925741672515869, 1.8982027769088745, 1.8967523574829102, 1.6312516927719116, 0.32050758600234985, 0.7775942087173462, 0.5433080196380615, 0.5993744134902954, 1.6526777744293213, 0.47334665060043335, 0.3255801796913147, 0.1444196254014969, 1.0411288738250732, 0.15266837179660797, 0.4667976200580597, 0.10548068583011627, 0.33441582322120667, 0.26008421182632446, 0.029032977297902107, 0.00854343082755804, 0.07784809172153473, 0.05724192038178444, 0.0310378298163414, 0.009835934266448021, 0.01954266056418419, 0.12975281476974487, 0.08890644460916519, 0.03781900182366371, 0.011385656893253326, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2133]}, "observation.state.tcp": {"min": [0.36187103390693665, 0.18854071199893951, 0.9377136826515198, -1.2533756494522095, 1.2183825969696045, -1.7379388809204102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26605668663978577, -0.2591620683670044, 0.9592721462249756, -0.633391261100769, 1.2178447246551514, 0.41437122225761414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42040202021598816, 0.22334374487400055, 1.0586150884628296, -0.779313325881958, 1.8900229930877686, -1.2294602394104004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4618281126022339, -0.058439042419195175, 1.1427818536758423, 1.2088226079940796, 2.0350966453552246, 1.7057945728302002, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4059619903564453, 0.20207904279232025, 0.9953052401542664, -1.0397670269012451, 1.691774845123291, -1.6654915809631348, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.39900824427604675, -0.14588643610477448, 1.0588732957839966, -0.2688674032688141, 1.7299679517745972, 0.6782220005989075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011614099144935608, 0.007472680415958166, 0.03551608324050903, 0.13390235602855682, 0.15658791363239288, 0.06686273217201233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04815316200256348, 0.054807744920253754, 0.04550815746188164, 0.2942228615283966, 0.12893959879875183, 0.19879929721355438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2133]}, "action": {"min": [1.0411332845687866, -0.7797155976295471, -0.22405707836151123, 0.9891487956047058, -0.15052394568920135, -0.7678653001785278, 0.31568753719329834, 0.0, 0.0, -0.27614787220954895, 0.0, 0.0, 0.0, -0.07622818648815155, 0.0, 0.0, 0.0, -0.12235302478075027, 0.0, 0.0, 0.0, -0.1691305786371231, 0.0, 0.0, 0.0, 0.0, -0.17949406802654266, 0.0, 0.0, 1.0246689319610596, -1.0336648225784302, -0.24265655875205994, 1.0959123373031616, -1.7265598773956299, -0.76747065782547, -0.3181973099708557, 0.0, -0.14638927578926086, -0.2028016746044159, -0.16389939188957214, 0.0, 0.0, -0.13128723204135895, 0.0, 0.0, 0.0, -0.09777528047561646, 0.0, 0.0, 0.0, -0.14254824817180634, 0.0, 0.0, 0.0, 0.0, -0.1628407984972, 0.0, 0.0, 0.5626833438873291, -1.1069587469100952, 0.5439882278442383, -0.0007293985108844936, -1.8722157619777136e-05, -3.301159124281232e-18, -0.7633715867996216], "max": [1.2451127767562866, -0.5510155558586121, -0.0006774334469810128, 1.5688971281051636, 0.2037552446126938, 0.2718241810798645, 0.8682136535644531, 1.363234519958496, 0.29126885533332825, 0.0, 0.2549850046634674, 0.6229355931282043, 0.49788200855255127, 0.1232248991727829, 0.04888322204351425, 0.04271337762475014, 0.23249909281730652, 0.19056960940361023, 0.036972526460886, 0.030704541131854057, 0.03594150021672249, 0.19722102582454681, 0.011532736010849476, 0.009965084493160248, 0.26180002093315125, 0.0, 0.23443306982517242, 0.0, 0.0, 1.445525050163269, -0.35628682374954224, -0.0010786519851535559, 1.7277121543884277, 0.004836096893996, -0.05550367757678032, 0.7099284529685974, 1.3898025751113892, 0.2688015103340149, 0.2660183012485504, 0.22073520720005035, 0.31067386269569397, 1.1926137208938599, 0.08335597068071365, 0.3530840277671814, 0.6857780814170837, 1.3563504219055176, 0.1618342101573944, 1.4217455387115479, 0.8952302932739258, 1.463063359260559, 0.18782734870910645, 1.58094322681427, 1.3525112867355347, 0.26176995038986206, 1.4565225839614868, 0.21127720177173615, 1.5403012037277222, 1.516595721244812, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 3.7784211282964353e-20, 2.2495078155770898e-05, 0.0954219177365303, -0.5899066925048828], "mean": [1.1447991132736206, -0.6273537874221802, -0.22083741426467896, 1.120167851448059, -0.02699469029903412, 0.09203864634037018, 0.4824187755584717, 1.308591604232788, 0.2623063921928406, -0.2104356288909912, 0.1657406985759735, 0.507025957107544, 0.3056766390800476, 0.0767631083726883, 0.0309583880007267, 0.02988213300704956, 0.10266880691051483, 0.13869312405586243, 0.018998175859451294, 0.015992695465683937, 0.007444652263075113, 0.1402241438627243, 0.0026436324696987867, 0.0023187336046248674, 0.257494181394577, 0.0, 0.18263250589370728, 0.0, 0.0, 1.276591181755066, -0.6252663135528564, -0.2277424931526184, 1.323506236076355, -1.3659636974334717, -0.2919665575027466, -0.02239498309791088, 1.261561632156372, 0.0700618326663971, 0.004692324437201023, -0.06695207208395004, 0.11786173284053802, 0.8983247876167297, 0.03213753178715706, 0.08928639441728592, 0.25056084990501404, 1.1377533674240112, -0.0567970834672451, 1.1526089906692505, 0.5590976476669312, 1.2606676816940308, -0.0993448942899704, 1.3192260265350342, 0.7658745646476746, 0.020835069939494133, 1.218652367591858, -0.11748261004686356, 1.0199869871139526, 1.3520917892456055, 0.5626921057701111, -1.1068528890609741, 0.5441528558731079, -0.00047634629299864173, -3.9531840911877225e-07, 0.05804555118083954, -0.7123868465423584], "std": [0.06753215193748474, 0.050454337149858475, 0.02171497419476509, 0.11436204612255096, 0.1264485865831375, 0.17330850660800934, 0.08171088993549347, 0.15247713029384613, 0.04515838623046875, 0.03455536812543869, 0.052883606404066086, 0.10185118764638901, 0.09854154288768768, 0.03427965193986893, 0.009166134521365166, 0.007767176255583763, 0.07366868108510971, 0.04992424324154854, 0.011539977043867111, 0.009586387313902378, 0.011327878572046757, 0.05205507576465607, 0.00388367404229939, 0.003390142461284995, 0.0332581102848053, 0.0, 0.05202040821313858, 0.0, 0.0, 0.10411619395017624, 0.16030919551849365, 0.024214619770646095, 0.16183319687843323, 0.30408868193626404, 0.1221969798207283, 0.1823028028011322, 0.1825041025876999, 0.06485046446323395, 0.058342136442661285, 0.06945625692605972, 0.07590389251708984, 0.2529382109642029, 0.026734089478850365, 0.059989411383867264, 0.17953574657440186, 0.21550975739955902, 0.0237844567745924, 0.25028055906295776, 0.15281830728054047, 0.2472873032093048, 0.03689241781830788, 0.2756640315055847, 0.2987203001976013, 0.022925641387701035, 0.24012790620326996, 0.043309055268764496, 0.27543407678604126, 0.27649199962615967, 8.73572480486473e-06, 1.3153511645214166e-05, 1.5636727766832337e-05, 0.00011170259676873684, 5.397195309342351e-06, 0.01747947745025158, 0.03732677176594734], "count": [2133]}, "observation.state.tcp_pose": {"min": [0.36187103390693665, 0.18854071199893951, 0.9377136826515198, -1.2533756494522095, 1.2183825969696045, -1.7379388809204102, 0.26605668663978577, -0.2591620683670044, 0.9592721462249756, -0.633391261100769, 1.2178447246551514, 0.41437122225761414], "max": [0.42040202021598816, 0.22334374487400055, 1.0586150884628296, -0.779313325881958, 1.8900229930877686, -1.2294602394104004, 0.4618281126022339, -0.058439042419195175, 1.1427818536758423, 1.2088226079940796, 2.0350966453552246, 1.7057945728302002], "mean": [0.4059619903564453, 0.20207904279232025, 0.9953052401542664, -1.0397670269012451, 1.691774845123291, -1.6654915809631348, 0.39900824427604675, -0.14588643610477448, 1.0588732957839966, -0.2688674032688141, 1.7299679517745972, 0.6782220005989075], "std": [0.011614099144935608, 0.007472680415958166, 0.03551608324050903, 0.13390235602855682, 0.15658791363239288, 0.06686273217201233, 0.04815316200256348, 0.054807744920253754, 0.04550815746188164, 0.2942228615283966, 0.12893959879875183, 0.19879929721355438], "count": [2133]}, "action.tcp_pose": {"min": [0.36184078454971313, 0.18855738639831543, 0.9376621842384338, -1.2534737586975098, 1.2187272310256958, -1.776782751083374, 0.2655792236328125, -0.2595676779747009, 0.9593817591667175, -0.6332793235778809, 1.2186942100524902, 0.41428840160369873], "max": [0.4204334616661072, 0.22317825257778168, 1.0585936307907104, -0.7703598141670227, 1.8901978731155396, -1.2302244901657104, 0.46179312467575073, -0.05839996039867401, 1.1427216529846191, 1.2074027061462402, 2.035431146621704, 1.7085669040679932], "mean": [0.405975341796875, 0.20210137963294983, 0.9953866004943848, -1.0391130447387695, 1.6904247999191284, -1.6661033630371094, 0.39913612604141235, -0.14627709984779358, 1.0594561100006104, -0.26911649107933044, 1.728164792060852, 0.6776899695396423], "std": [0.011627830564975739, 0.007484862580895424, 0.035494886338710785, 0.13461579382419586, 0.15815585851669312, 0.06772199273109436, 0.04813241586089134, 0.054971303790807724, 0.045716751366853714, 0.2925699055194855, 0.1309112012386322, 0.19868379831314087], "count": [2133]}, "subtask_index": {"min": [50], "max": [1467], "mean": [1395.2883263009846], "std": [240.57320367987253], "count": [2133]}, "observation.tactile": {"min": [-0.022091902792453766, -3.656750050140545e-05, -8.017829532036558e-05, -0.0017496966756880283, -9.479012078372762e-05, -0.00028792661032639444, -7.99987268447876, -4.327658098191023e-05, -1.3941673040390015, -0.007990796118974686, -0.0016389876836910844, -0.15509137511253357, -0.013993489556014538, -4.4498177885543555e-05, -9.778107050806284e-05, -0.0014292431296780705, -3.650056169135496e-05, -0.00032378084142692387, -0.022300060838460922, -3.246725827921182e-05, -6.926397327333689e-05, -0.0016512421425431967, -1.580509706400335e-05, -0.0004594173515215516, -0.004194673616439104, -4.7516150516457856e-05, -0.0001076134794857353, -0.0007652421481907368, -3.036247471754905e-05, -9.16912904358469e-05, -1.3208956718444824, -4.105064726900309e-05, -9.579038305673748e-05, -0.17684100568294525, -0.01802312210202217, -0.048677217215299606, -4.62907600402832, -0.844048023223877, -0.00010419802129035816, -0.25507935881614685, -0.028210973367094994, -0.08777724951505661, -0.012554517015814781, -4.649619950214401e-05, -0.00010315130202798173, -0.0012561411131173372, -8.101276762317866e-05, -0.00027141670580022037, -0.015147489495575428, -5.4536496463697404e-05, -0.00012270531442482024, -0.0023466211277991533, -5.175260594114661e-05, -0.0003626409452408552, -0.193190798163414, -4.128293949179351e-05, -9.179428161587566e-05, -0.0013348395004868507, -0.0003111806290689856, -0.0031744183506816626], "max": [0.004199083428829908, 0.05769714340567589, 0.16822832822799683, 1.4999997119957698e-06, 0.000317220576107502, 8.10044730314985e-06, 0.0005697932792827487, 4.90231990814209, 0.3156880736351013, 0.035598378628492355, 0.0177939273416996, 6.390970156644471e-06, 0.0019805419724434614, 0.024697227403521538, 0.07190403342247009, 1.8439905034028925e-06, 0.00015689877909608185, 1.0371995813329704e-05, 0.0032147234305739403, 0.029552549123764038, 0.08539324998855591, 1.2823169299736037e-06, 0.00022507226094603539, 1.2496589079091791e-05, 0.001937586348503828, 0.01646258309483528, 0.0447930209338665, 2.015950713030179e-06, 0.00018671053112484515, 7.794327757437713e-06, 6.130934238433838, 10.530501365661621, 10.792295455932617, 1.784101186785847e-06, 0.03437109291553497, 0.09782466292381287, 2.110746383666992, 13.230826377868652, 13.905871391296387, 1.976929524971638e-06, 0.022915273904800415, 0.06453448534011841, 0.01911175809800625, 0.021495237946510315, 0.061963245272636414, 1.9114174847345566e-06, 0.0003315914364065975, 0.00023910791787784547, 0.16019587218761444, 0.04413849487900734, 0.14567069709300995, 2.2004110178386327e-06, 0.0008006062707863748, 0.0025024148635566235, 0.007262779865413904, 0.03094521164894104, 0.07426580786705017, 1.7127287037510541e-06, 0.00014785122766625136, 0.00014504259161185473], "mean": [-0.0018623763462528586, 0.005265087354928255, 0.015370064415037632, -0.0002670040703378618, 8.94400909601245e-06, -3.738054874702357e-05, -0.016696015372872353, 0.011663228273391724, 0.0015860723797231913, -3.226105764042586e-05, 2.4265948013635352e-05, -0.00035180302802473307, -0.0010899434564635158, 0.004006034694612026, 0.011623905040323734, -0.00023594511731062084, 1.311124287894927e-05, -2.6225934561807662e-05, -0.0029446743428707123, 0.006745501887053251, 0.01936643198132515, -0.0003616659087128937, 4.056511170347221e-05, -7.081194053171203e-05, -0.00011131555220345035, 0.0021357506047934294, 0.006234293803572655, -0.00010003086208598688, 1.9904595319530927e-05, -7.079717306623934e-06, 1.7810165882110596, 1.7279951572418213, 3.744544267654419, -0.06030155345797539, 0.006591286510229111, 0.024728719145059586, -1.1453052759170532, 0.6961167454719543, 4.5736985206604, -0.07059518247842789, -0.0017615248216316104, -0.01848676986992359, -0.0001517436176072806, 0.0030285597313195467, 0.00906139425933361, -0.00017682011821307242, 2.6660973162506707e-05, -1.3675195077667013e-05, -0.0003157902101520449, 0.003672764403745532, 0.011051515117287636, -0.000202190552954562, 2.0737588783958927e-05, -1.5871055438765325e-05, -0.0013261326821520925, 0.0034443270415067673, 0.009783923625946045, -0.00021549071243498474, 9.54743427428184e-06, -2.924262844317127e-05], "std": [0.0029758440796285868, 0.00649661710485816, 0.01887410320341587, 0.0003295390633866191, 4.3806343455798924e-05, 5.224384949542582e-05, 0.2711826264858246, 0.19021868705749512, 0.06183400750160217, 0.0016466813394799829, 0.0005307435058057308, 0.005379693582653999, 0.0018111177487298846, 0.005118353292346001, 0.014770233072340488, 0.0003111482074018568, 1.961287489393726e-05, 4.2211191612295806e-05, 0.003410720033571124, 0.006483736913651228, 0.018469618633389473, 0.0003707651630975306, 3.7766068999189883e-05, 7.589804590679705e-05, 0.00048074443475343287, 0.002758348360657692, 0.007885742001235485, 0.0001322897442150861, 2.7262105504632927e-05, 1.441093991161324e-05, 2.1173574924468994, 1.9852670431137085, 3.9487648010253906, 0.0645524337887764, 0.011361697688698769, 0.030362458899617195, 1.4143636226654053, 1.2376002073287964, 4.983093738555908, 0.07614140957593918, 0.007775749079883099, 0.02413967065513134, 0.0023771661799401045, 0.003653253661468625, 0.01093645952641964, 0.0002159727446269244, 4.7858859034022316e-05, 3.8939950172789395e-05, 0.005976161919534206, 0.004499645438045263, 0.013532787561416626, 0.00027592180413194, 4.215397348161787e-05, 9.475516708334908e-05, 0.00890832394361496, 0.00366884283721447, 0.010209348052740097, 0.00022815911506768316, 2.5507230020593852e-05, 0.0001307566271862015], "count": [2133]}, "timestamp": {"min": [0.0], "max": [71.06666666666666], "mean": [35.53333333333334], "std": [20.52479981406414], "count": [2133]}, "frame_index": {"min": [0], "max": [2132], "mean": [1066.0], "std": [615.7439944219243], "count": [2133]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2133]}, "index": {"min": [62697], "max": [64829], "mean": [63763.0], "std": [615.7439944219243], "count": [2133]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2133]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.007843137718737125]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5628944039344788]], [[0.5633041262626648]], [[0.5635607242584229]]], "std": [[[0.2961672246456146]], [[0.29549017548561096]], [[0.2961808443069458]]], "count": [2133]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30553871393203735]], [[0.3082515597343445]], [[0.3057251274585724]]], "std": [[[0.182827427983284]], [[0.18316763639450073]], [[0.18276800215244293]]], "count": [2133]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30992022156715393]], [[0.31299105286598206]], [[0.30940261483192444]]], "std": [[[0.18449844419956207]], [[0.1837998777627945]], [[0.1823875904083252]]], "count": [2133]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5649457573890686]], [[0.5650691390037537]], [[0.564950168132782]]], "std": [[[0.30176177620887756]], [[0.3014279007911682]], [[0.30235984921455383]]], "count": [2133]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764860153198]], [[0.7411764860153198]], [[0.7411764860153198]]], "mean": [[[0.0031942990608513355]], [[0.0031942990608513355]], [[0.0031942990608513355]]], "std": [[[0.034662310034036636]], [[0.034662310034036636]], [[0.034662310034036636]]], "count": [2133]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4905489385128021]], [[0.4905489385128021]], [[0.4905489385128021]]], "std": [[[0.22126354277133942]], [[0.22126354277133942]], [[0.22126354277133942]]], "count": [2133]}}}
+{"episode_index": 28, "stats": {"observation.state": {"min": [1.0048514604568481, -0.7799479961395264, -0.22353897988796234, 1.0724058151245117, -0.07407233864068985, -0.7689141035079956, 0.10276436805725098, 0.006809897255152464, -0.0004058007034473121, -0.22715318202972412, 0.004083546809852123, 0.0035059177316725254, 0.003659106558188796, -0.03239227086305618, 0.0034442238975316286, 0.0008744299411773682, -0.0033247433602809906, -0.045097824186086655, 0.0030963977333158255, 0.0008331916178576648, -0.003204294014722109, -0.026918325573205948, 0.0027421892154961824, 0.00077111239079386, 0.005643947049975395, -0.0029187484178692102, -0.02598588727414608, -0.00037370927748270333, 0.0003560686018317938, 1.0499794483184814, -1.0501798391342163, -0.24287457764148712, 1.0564863681793213, -1.7400250434875488, -0.7700080275535583, -0.35788190364837646, 0.0055812932550907135, -0.20557759702205658, -0.21583478152751923, -0.2761402130126953, 0.0032587875612080097, 0.005328714847564697, -0.02473895065486431, 0.003578957635909319, 0.000832748191896826, -0.0034699691459536552, -0.09311631321907043, 0.006404823623597622, 0.000863787776324898, -0.0006726502906531096, -0.14777429401874542, 0.0038643807638436556, 0.0008850721060298383, 0.006478819064795971, -0.0024607472587376833, -0.166129007935524, 0.003297789255157113, 0.000859353574924171, 0.5624915957450867, -1.1069588661193848, 0.543796181678772, -0.0006711165769957006, -9.58738019107841e-05, -0.0001917476038215682, -0.7165607810020447], "max": [1.1845571994781494, -0.641335666179657, -0.00025981798535212874, 1.5695161819458008, 0.11209708452224731, 0.46889910101890564, 0.6981548070907593, 1.4350316524505615, 0.2943701446056366, 0.022747976705431938, 0.25977325439453125, 0.6398941278457642, 0.47238266468048096, 0.11602772772312164, 0.03781590238213539, 0.040857430547475815, 0.4185585081577301, 0.25345298647880554, 0.04941188171505928, 0.041113730520009995, 0.16157056391239166, 0.27891093492507935, 0.018682627007365227, 0.022376449778676033, 0.2487521916627884, 0.05970064178109169, 0.28587910532951355, 0.01438851561397314, 0.012030062265694141, 1.4853492975234985, -0.36941373348236084, 3.355582975927973e-06, 1.7054533958435059, 0.023213323205709457, 0.009278306737542152, 0.6981423497200012, 1.4694150686264038, 0.2764228284358978, 0.4158923923969269, 0.2873515784740448, 0.3585541844367981, 1.1761770248413086, 0.16898073256015778, 0.4194663166999817, 0.5971682071685791, 1.420426845550537, 0.2281021922826767, 1.301961898803711, 0.5827317237854004, 1.4186104536056519, 0.24218031764030457, 1.4601213932037354, 0.9388526082038879, 0.11708968877792358, 1.3593688011169434, 0.24683882296085358, 1.437021255493164, 1.3081893920898438, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.00028762139845639467, 9.58738019107841e-05, 0.08072573691606522, -0.5897197127342224], "mean": [1.062943935394287, -0.6902639865875244, -0.2208959311246872, 1.123579740524292, 0.009854345582425594, 0.34927451610565186, 0.3306352496147156, 1.3971439599990845, 0.2864389419555664, -0.020418569445610046, 0.13546447455883026, 0.6135527491569519, 0.4222589433193207, 0.10477390885353088, 0.03497512638568878, 0.035600095987319946, 0.284711092710495, 0.21440580487251282, 0.03600365296006203, 0.031154833734035492, 0.08653030544519424, 0.22868138551712036, 0.01284842286258936, 0.013119124807417393, 0.1952574998140335, 0.014494020491838455, 0.2544119358062744, 0.002618887461721897, 0.0034659109078347683, 1.273245096206665, -0.6056431531906128, -0.23582294583320618, 1.3109253644943237, -1.191396951675415, -0.34962400794029236, -0.0009677670313976705, 1.2971891164779663, 0.09562177211046219, 0.041246768087148666, -0.10026105493307114, 0.16752378642559052, 0.887373149394989, 0.07406599074602127, 0.1174950823187828, 0.2489311695098877, 1.2331030368804932, -0.05229876562952995, 1.1175570487976074, 0.24681276082992554, 1.321391224861145, -0.10999725013971329, 1.2708625793457031, 0.4652833640575409, 0.03734193369746208, 1.2495659589767456, -0.12861236929893494, 0.9960367679595947, 1.2542189359664917, 0.5627046823501587, -1.1068699359893799, 0.5440852046012878, -0.0003790758491959423, 2.1627992907724547e-07, 0.03985997289419174, -0.6604399681091309], "std": [0.049900252372026443, 0.024455241858959198, 0.019714970141649246, 0.060081999748945236, 0.06516029685735703, 0.14406301081180573, 0.1364980787038803, 0.12873853743076324, 0.030454013496637344, 0.048245709389448166, 0.021953996270895004, 0.0693015456199646, 0.058777399361133575, 0.01791713759303093, 0.004312559030950069, 0.004365359432995319, 0.09484703093767166, 0.04414115473628044, 0.008461895398795605, 0.007854382507503033, 0.04565545544028282, 0.05370774492621422, 0.004773251712322235, 0.0057177115231752396, 0.04824473336338997, 0.014037531800568104, 0.04693808779120445, 0.0035949116572737694, 0.0032159092370420694, 0.10251461714506149, 0.13799330592155457, 0.02225506119430065, 0.15210802853107452, 0.39459389448165894, 0.1492466926574707, 0.2085573971271515, 0.15463298559188843, 0.07909762859344482, 0.10555966198444366, 0.08541671186685562, 0.09189843386411667, 0.19918042421340942, 0.031559206545352936, 0.10512993484735489, 0.1575942188501358, 0.21408773958683014, 0.03548393398523331, 0.2295195609331131, 0.1283782571554184, 0.24248678982257843, 0.05390360578894615, 0.2606391906738281, 0.23570072650909424, 0.011065809987485409, 0.23366022109985352, 0.05797577276825905, 0.2508685886859894, 0.2485201209783554, 3.3901433198479936e-05, 3.196039324393496e-05, 6.658659549430013e-05, 8.657636499265209e-05, 1.1543582331796642e-05, 0.01799163408577442, 0.018369577825069427], "count": [3103]}, "observation.state.joint_torque": {"min": [-43.715999603271484, -4.817999839782715, -23.604000091552734, -5.867000102996826, -0.8999999761581421, -1.5848000049591064, -8.774399757385254, -0.6507725119590759, -0.49540215730667114, -0.3554092049598694, -0.3243419826030731, -0.09463459998369217, -0.37323158979415894, -0.7627740502357483, -0.07803203910589218, -0.039242662489414215, -0.3789883852005005, -0.40585336089134216, -0.13116022944450378, -0.033534638583660126, -0.2868798077106476, -0.4144885540008545, -0.09297433495521545, -0.03424813970923424, -0.38614532351493835, -1.0410187244415283, -0.5152323246002197, -0.8035640120506287, -0.16838671267032623, 8.089500427246094, -5.418000221252441, -3.739000082015991, -7.677999973297119, -2.0199999809265137, -5.061600208282471, -3.722399950027466, -1.7994943857192993, -0.9118456840515137, -0.47595009207725525, -1.5024117231369019, -0.12451920658349991, -1.1005054712295532, -0.8433690071105957, -0.11123716086149216, -0.06564227491617203, -1.2204384803771973, -2.1396052837371826, -0.5296216607093811, -0.051372215151786804, -0.8951801657676697, -1.8383334875106812, -0.11621791869401932, -0.04281017929315567, -0.1402965486049652, -0.4336778521537781, -0.7474226355552673, -0.24239739775657654, -0.08847437053918839, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-1.5540000200271606, 9.39900016784668, 9.02299976348877, 1.3229999542236328, 3.691200017929077, 1.511199951171875, 3.5552000999450684, 0.29927897453308105, 0.2190467268228531, 0.3827483654022217, 0.3678361475467682, 0.0879935771226883, 0.36171799898147583, 0.28016355633735657, 0.09961536526679993, 0.022118592634797096, 0.499880850315094, 0.22451463341712952, 0.13946151733398438, 0.014270060695707798, 0.3665153384208679, 0.5008403658866882, 0.11289741843938828, 0.01712406985461712, 0.07872439920902252, 0.36843428015708923, 2.1434431076049805, 0.09463459998369217, 0.014270060695707798, 38.63249969482422, 8.716500282287598, 21.891000747680664, 2.8420000076293945, 0.446399986743927, 3.488800048828125, 1.9543999433517456, 4.159340858459473, 5.011330604553223, 2.0603792667388916, 1.4961981773376465, 0.6574614644050598, 2.148240327835083, 1.5639266967773438, 1.0592433214187622, 0.21547789871692657, 0.5632054805755615, 0.26097428798675537, 0.5744485855102539, 0.09989041090011597, 0.48165106773376465, 0.24466338753700256, 0.7022882699966431, 0.12200900912284851, 0.24321000277996063, 0.4662996232509613, 0.42216429114341736, 0.49973708391189575, 0.0891878679394722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-23.451316833496094, 3.2595150470733643, -10.941362380981445, -2.0668835639953613, -0.3373936414718628, -0.5483486652374268, 0.9422726035118103, -0.0028684113640338182, -0.002803567796945572, 0.037350092083215714, 0.00628393329679966, 0.0017651247326284647, 0.005305041093379259, 0.0042252871207892895, 0.0005692929262295365, 3.2191503123613074e-05, 0.034201301634311676, -0.00038341383333317935, 0.001269673928618431, 0.0002745474921539426, 0.04309582710266113, 0.04893319681286812, 0.002766201738268137, 0.0003798608959186822, -0.014595918357372284, -0.06301791220903397, 0.2144242525100708, -0.0396994948387146, -0.010811323300004005, 27.104686737060547, 0.9699036478996277, 12.579812049865723, -1.7833812236785889, -0.603287398815155, 1.267890214920044, -1.0079671144485474, 0.39704668521881104, 1.6439745426177979, 0.4806176424026489, 0.19939938187599182, 0.16814889013767242, 1.2340742349624634, -0.00158807507250458, 0.5208902955055237, 0.12073398381471634, -0.055882636457681656, -0.1829567849636078, -0.007013428490608931, -0.0007445451337844133, 0.009546391665935516, -0.051371365785598755, 0.00167684571351856, -0.0007105132681317627, 0.0015079055447131395, 0.008340507745742798, -0.01425375510007143, -0.007540438324213028, 0.0018576820148155093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [4.115664005279541, 1.2515320777893066, 3.262347936630249, 0.8339244723320007, 0.6289525032043457, 0.5618484020233154, 1.539838194847107, 0.03551654517650604, 0.027514388784766197, 0.06469466537237167, 0.053932011127471924, 0.01036167424172163, 0.05266314744949341, 0.05270322412252426, 0.007194939069449902, 0.0036519633140414953, 0.061632201075553894, 0.05101632699370384, 0.015964509919285774, 0.0037651369348168373, 0.06194173917174339, 0.07702048867940903, 0.012302077375352383, 0.004791745450347662, 0.03931794315576553, 0.21282218396663666, 0.450745552778244, 0.10623697936534882, 0.02724631316959858, 4.010600566864014, 1.6223863363265991, 2.463728189468384, 1.50698983669281, 0.3068732023239136, 0.990588903427124, 0.7201564311981201, 0.7907847762107849, 1.6949561834335327, 0.5342763662338257, 0.4262368381023407, 0.18092644214630127, 1.0169389247894287, 0.16022548079490662, 0.46017491817474365, 0.10032875835895538, 0.21215713024139404, 0.2803584933280945, 0.05258621647953987, 0.008940203115344048, 0.10990042239427567, 0.17568477988243103, 0.03038402460515499, 0.01010672003030777, 0.02802448347210884, 0.12605853378772736, 0.09923850744962692, 0.03913423791527748, 0.011025889776647091, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3103]}, "observation.state.tcp": {"min": [0.3466481566429138, 0.19246892631053925, 0.9152052998542786, -1.3185744285583496, 1.2182213068008423, -1.886459469795227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2738339602947235, -0.2894865870475769, 0.9678830504417419, -0.7686948776245117, 1.2177482843399048, 0.42023178935050964, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4039376974105835, 0.2442076951265335, 1.0517345666885376, -1.0093777179718018, 2.203925371170044, -1.2295920848846436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46684712171554565, -0.05037207156419754, 1.1625826358795166, 1.2089370489120483, 2.062744379043579, 1.5241382122039795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3696132004261017, 0.22442738711833954, 0.9504984021186829, -1.2029253244400024, 1.9528881311416626, -1.7524135112762451, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40238097310066223, -0.14444051682949066, 1.0560474395751953, -0.08658681809902191, 1.7130348682403564, 0.7462388873100281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01628398895263672, 0.0072898175567388535, 0.027032583951950073, 0.06816446036100388, 0.18450956046581268, 0.06370362639427185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04412027820944786, 0.04735662043094635, 0.04405181109905243, 0.38881775736808777, 0.14781628549098969, 0.21716764569282532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [3103]}, "action": {"min": [1.004853367805481, -0.7796134352684021, -0.22348183393478394, 1.072387933731079, -0.07407209277153015, -0.7631873488426208, 0.10276768356561661, 0.0, 0.0, -0.22808825969696045, 0.0, 0.0, 0.0, -0.038147371262311935, 0.0, 0.0, 0.0, -0.05365728214383125, 0.0, 0.0, 0.0, -0.07877501845359802, 0.0, 0.0, 0.0, 0.0, -0.09483996033668518, 0.0, 0.0, 1.0499999523162842, -1.0502985715866089, -0.2428438812494278, 1.056438684463501, -1.7400201559066772, -0.7699999809265137, -0.3578847050666809, 0.0, -0.2155700922012329, -0.21468500792980194, -0.2811344563961029, 0.0, 0.0, -0.02629959210753441, 0.0, 0.0, 0.0, -0.09614955633878708, 0.0, 0.0, 0.0, -0.14934280514717102, 0.0, 0.0, 0.0, 0.0, -0.169639453291893, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5441194176673889, -0.0006241683731786907, -3.215013930457644e-05, 7.834234690073114e-20, -0.7174147367477417], "max": [1.184661626815796, -0.6412667036056519, -0.002089674584567547, 1.5667952299118042, 0.1121782585978508, 0.46891412138938904, 0.7290176153182983, 1.4464622735977173, 0.29308047890663147, 0.027812791988253593, 0.2685442268848419, 0.6451509594917297, 0.4831893742084503, 0.11620689183473587, 0.043318841606378555, 0.041810695081949234, 0.4186563491821289, 0.2520392835140228, 0.05545029416680336, 0.04297444224357605, 0.1617702692747116, 0.28015393018722534, 0.025814048945903778, 0.023667454719543457, 0.26180002093315125, 0.04240310564637184, 0.2856117784976959, 0.010508926585316658, 0.010243265889585018, 1.4853700399398804, -0.3694326877593994, -1.0305270015633673e-17, 1.7056496143341064, 0.023193152621388435, 0.009125861339271069, 0.8056765794754028, 1.49240243434906, 0.280720591545105, 0.4194106459617615, 0.2917308807373047, 0.36564409732818604, 1.2450722455978394, 0.16976608335971832, 0.42767876386642456, 0.6689664125442505, 1.434087872505188, 0.23884223401546478, 1.3058010339736938, 0.5874849557876587, 1.4234205484390259, 0.24526552855968475, 1.4635913372039795, 0.9413650035858154, 0.13081319630146027, 1.3658510446548462, 0.25480371713638306, 1.4405107498168945, 1.438015103340149, 0.5626999735832214, -1.106863021850586, 0.5442773103713989, 0.000422838784288615, 0.00012693081225734204, 0.0814986526966095, -0.5899878144264221], "mean": [1.062956690788269, -0.6902884840965271, -0.22089937329292297, 1.1236097812652588, 0.009832284413278103, 0.34919407963752747, 0.3311825096607208, 1.3981988430023193, 0.2876806855201721, -0.015755964443087578, 0.13682018220424652, 0.6183072328567505, 0.42518752813339233, 0.1053152084350586, 0.039716389030218124, 0.03834264352917671, 0.2912712097167969, 0.21589548885822296, 0.041990358382463455, 0.033980708569288254, 0.09027744084596634, 0.23276369273662567, 0.01791469193994999, 0.01605253480374813, 0.20125016570091248, 0.015808239579200745, 0.26066792011260986, 0.004495654720813036, 0.004416364245116711, 1.2740201950073242, -0.6058194041252136, -0.23582880198955536, 1.3109867572784424, -1.1917563676834106, -0.35002341866493225, 0.0001538528158562258, 1.2992149591445923, 0.10087037831544876, 0.04151414334774017, -0.09952852874994278, 0.16861993074417114, 0.9337859749794006, 0.062140632420778275, 0.1236104890704155, 0.3128020763397217, 1.2326751947402954, -0.052490029484033585, 1.1168265342712402, 0.2466626912355423, 1.3215128183364868, -0.11016765236854553, 1.2703680992126465, 0.46508002281188965, 0.036036014556884766, 1.2488652467727661, -0.12920719385147095, 0.9946013689041138, 1.3323253393173218, 0.5627083778381348, -1.1068781614303589, 0.5441733598709106, -0.00041331350803375244, -5.457739007397322e-07, 0.03992972895503044, -0.6604841947555542], "std": [0.049911949783563614, 0.0244933869689703, 0.01969067007303238, 0.06010749191045761, 0.0651681125164032, 0.1440204232931137, 0.13732963800430298, 0.14281946420669556, 0.031987037509679794, 0.049275096505880356, 0.024033168330788612, 0.07288182526826859, 0.05936938524246216, 0.0171397365629673, 0.005013510584831238, 0.004782163538038731, 0.09420887380838394, 0.04323150962591171, 0.0106327123939991, 0.00821906141936779, 0.04778777062892914, 0.05313921719789505, 0.006770341191440821, 0.006238192785531282, 0.058197107166051865, 0.014611856080591679, 0.04843578860163689, 0.0037245319690555334, 0.0036438500974327326, 0.10262703895568848, 0.13840177655220032, 0.022261159494519234, 0.15244799852371216, 0.39430391788482666, 0.14952585101127625, 0.21169836819171906, 0.16318877041339874, 0.08019102364778519, 0.10653044283390045, 0.08534226566553116, 0.09308218210935593, 0.2297281175851822, 0.033224258571863174, 0.11333607137203217, 0.18988342583179474, 0.21363039314746857, 0.035848796367645264, 0.22957578301429749, 0.12839138507843018, 0.24282343685626984, 0.05364415794610977, 0.26101064682006836, 0.2357400506734848, 0.014893670566380024, 0.2338573932647705, 0.057840894907712936, 0.251278281211853, 0.26722797751426697, 2.492310341040138e-05, 1.5203454495349433e-05, 1.4772943359275814e-05, 8.305700612254441e-05, 7.403639301628573e-06, 0.01802513748407364, 0.018389875069260597], "count": [3103]}, "observation.state.tcp_pose": {"min": [0.3466481566429138, 0.19246892631053925, 0.9152052998542786, -1.3185744285583496, 1.2182213068008423, -1.886459469795227, 0.2738339602947235, -0.2894865870475769, 0.9678830504417419, -0.7686948776245117, 1.2177482843399048, 0.42023178935050964], "max": [0.4039376974105835, 0.2442076951265335, 1.0517345666885376, -1.0093777179718018, 2.203925371170044, -1.2295920848846436, 0.46684712171554565, -0.05037207156419754, 1.1625826358795166, 1.2089370489120483, 2.062744379043579, 1.5241382122039795], "mean": [0.3696132004261017, 0.22442738711833954, 0.9504984021186829, -1.2029253244400024, 1.9528881311416626, -1.7524135112762451, 0.40238097310066223, -0.14444051682949066, 1.0560474395751953, -0.08658681809902191, 1.7130348682403564, 0.7462388873100281], "std": [0.01628398895263672, 0.0072898175567388535, 0.027032583951950073, 0.06816446036100388, 0.18450956046581268, 0.06370362639427185, 0.04412027820944786, 0.04735662043094635, 0.04405181109905243, 0.38881775736808777, 0.14781628549098969, 0.21716764569282532], "count": [3103]}, "action.tcp_pose": {"min": [0.34674081206321716, 0.19263817369937897, 0.9151495099067688, -1.3186813592910767, 1.220668077468872, -1.889078140258789, 0.2740905284881592, -0.29481199383735657, 0.9678541421890259, -0.7687820196151733, 1.217836856842041, 0.4205864369869232], "max": [0.4039609134197235, 0.2445826530456543, 1.0512689352035522, -0.9971106052398682, 2.2039620876312256, -1.2326055765151978, 0.4667218327522278, -0.05037005990743637, 1.1629822254180908, 1.2088515758514404, 2.0626745223999023, 1.5240851640701294], "mean": [0.36963263154029846, 0.22443895041942596, 0.9504967927932739, -1.2027695178985596, 1.9522924423217773, -1.752725601196289, 0.4025125503540039, -0.14449834823608398, 1.0564939975738525, -0.08781968802213669, 1.7111009359359741, 0.7465163469314575], "std": [0.01627868041396141, 0.007312256842851639, 0.027047617360949516, 0.06849700212478638, 0.18514975905418396, 0.06385856866836548, 0.04412912204861641, 0.047479160130023956, 0.044209074229002, 0.3870835602283478, 0.15056702494621277, 0.2179805338382721], "count": [3103]}, "subtask_index": {"min": [50], "max": [1518], "mean": [1460.1098936513051], "std": [219.37354008410307], "count": [3103]}, "observation.tactile": {"min": [-0.010296415537595749, -3.9437432860722765e-05, -8.629978401586413e-05, -0.0006803666474297643, -4.045149762532674e-05, -0.0001735219411784783, -0.0075979894027113914, -4.736759728984907e-05, -0.00010719782585510984, -0.0006012279773131013, -5.781563959317282e-05, -0.00015581432671751827, -0.005141217727214098, -4.8836212954483926e-05, -0.00010887921962421387, -0.0007360542076639831, -4.52050517196767e-05, -0.0001150362440967001, -1.8257321119308472, -3.718782318173908e-05, -0.046718914061784744, -0.001640321803279221, -1.3375743947108276e-05, -0.022523099556565285, -2.608856678009033, -0.8247650265693665, -0.00010798817675095052, -0.030043907463550568, -0.006125580985099077, -0.054990239441394806, -0.7349873185157776, -3.945233402191661e-05, -9.13500552996993e-05, -0.2085627168416977, -0.01599748246371746, -0.0318143256008625, -5.3299102783203125, -0.3515084981918335, -0.00011048819578718394, -0.2409951239824295, -0.028030836954712868, -0.09578100591897964, -3.204261541366577, -0.130800262093544, -0.00010622297850204632, -0.011720976792275906, -0.005037554074078798, -0.04667152091860771, -0.009711715392768383, -5.800693543278612e-05, -0.0001302956516155973, -0.0019002946792170405, -3.5547720472095534e-05, -0.00021907311747781932, -0.48427197337150574, -3.812146314885467e-05, -8.529768092557788e-05, -0.001557114184834063, -0.00038393845898099244, -0.007201283238828182], "max": [0.013097980059683323, 0.019033702090382576, 0.055241264402866364, 1.6482995306432713e-06, 0.00022490901756100357, 0.0001903696684166789, 0.0033404396381229162, 0.011881895363330841, 0.035083383321762085, 1.833162059483584e-06, 0.00021393742645159364, 6.639178536715917e-06, 0.002145226579159498, 0.011893466114997864, 0.03527906909584999, 2.0457391656236723e-06, 0.00010615806240821257, 1.921705188578926e-05, 0.002812048653140664, 0.4683896601200104, 0.07042282819747925, 0.0010939021594822407, 0.00345178646966815, 1.2596994565683417e-05, 0.005194616504013538, 1.5490854978561401, 1.4398679733276367, 2.0308445982664125e-06, 0.0001742049353197217, 6.923225737409666e-05, 7.231783390045166, 14.841402053833008, 11.517474174499512, 1.7086932757592876e-06, 0.03766655549407005, 0.14874744415283203, 4.127912998199463, 15.746816635131836, 19.972414016723633, 2.093567673000507e-06, 0.03167777881026268, 0.07863561064004898, 0.012972523458302021, 0.3813304007053375, 0.7576029896736145, 1.959346263902262e-06, 0.0021932616364210844, 0.00013819185551255941, 0.13464418053627014, 0.04287201166152954, 0.11497124284505844, 2.3709858396614436e-06, 0.0004482732911128551, 0.002073860028758645, 0.008598528802394867, 0.06534534692764282, 0.0995713472366333, 1.5758976132929092e-06, 0.0004057597543578595, 0.00010234627552563325], "mean": [-0.0006452195229940116, 0.0012867279583588243, 0.004125991836190224, -6.337567901937291e-05, -4.125231043872191e-06, -7.5647067205864005e-06, 0.00011580422142287716, 0.0003229601716157049, 0.0009711128077469766, -1.6687208699295297e-05, -1.089370371687437e-07, 2.1748994640802266e-06, 0.00024553859839215875, 0.00025399791775271297, 0.000760234019253403, -1.3412925909506157e-05, -6.881216449983185e-07, 5.2621935537899844e-06, -0.013040079735219479, 0.0030761247035115957, 0.002605594927445054, -4.8974914534483105e-05, 3.28205460391473e-05, -0.00016560553922317922, -0.13201561570167542, 0.041345804929733276, 0.057578619569540024, -0.0012151628034189343, -0.00027852607308886945, -0.0025687033776193857, 2.233079433441162, 2.293295383453369, 4.2373738288879395, -0.07585403323173523, 0.008885540999472141, 0.03555937483906746, -1.2565118074417114, 1.5772343873977661, 5.820183277130127, -0.09065494686365128, -0.0014327402459457517, -0.01919453963637352, -0.03962051868438721, 0.006992405746132135, 0.017955774441361427, -0.00030533745302818716, 5.5531954785692506e-06, -0.0005358898779377341, -0.001012470107525587, 0.004673133138567209, 0.013581378385424614, -0.00030662878998555243, 5.967399374640081e-06, -2.6689331207307987e-05, -0.0010125862900167704, 0.0014032218605279922, 0.003982743714004755, -7.981637463672087e-05, 2.2868073301651748e-07, -1.702164809103124e-05], "std": [0.0012146331137046218, 0.001682892208918929, 0.005319108255207539, 8.088044705800712e-05, 1.2876981600129511e-05, 1.8671704310690984e-05, 0.0005622901953756809, 0.0011318549513816833, 0.0032962337136268616, 5.7446926803095266e-05, 6.3629586293245666e-06, 1.0945581379928626e-05, 0.0003799512633122504, 0.0008838603971526027, 0.0025942414067685604, 5.1889186579501256e-05, 8.124430678435601e-06, 7.929502316983417e-06, 0.12567999958992004, 0.024799706414341927, 0.007766669616103172, 0.00016904731455724686, 0.00025895878206938505, 0.0015691486187279224, 0.4026602804660797, 0.17920710146427155, 0.20023077726364136, 0.0042225634679198265, 0.000864455767441541, 0.007790677715092897, 2.163585662841797, 2.2005062103271484, 3.509174346923828, 0.06432738900184631, 0.012529795989394188, 0.03780669346451759, 1.4822371006011963, 2.233607769012451, 4.97843074798584, 0.07628417015075684, 0.010463809594511986, 0.02438369020819664, 0.22661331295967102, 0.024001702666282654, 0.054307352751493454, 0.0008271512924693525, 0.0003435687976889312, 0.0032552573829889297, 0.003986361436545849, 0.005146878305822611, 0.014878395944833755, 0.00034204337862320244, 2.0283418052713387e-05, 7.003639620961621e-05, 0.013561759144067764, 0.0030178294982761145, 0.007612429093569517, 0.00015304898261092603, 2.0239711375324987e-05, 0.0001988539006561041], "count": [3103]}, "timestamp": {"min": [0.0], "max": [103.4], "mean": [51.7], "std": [29.858629871073756], "count": [3103]}, "frame_index": {"min": [0], "max": [3102], "mean": [1551.0], "std": [895.7588961322126], "count": [3103]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [3103]}, "index": {"min": [64830], "max": [67932], "mean": [66381.0], "std": [895.7588961322126], "count": [3103]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3103]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620561838150024]], [[0.5623427033424377]], [[0.5627871155738831]]], "std": [[[0.29222628474235535]], [[0.2915777564048767]], [[0.2922891080379486]]], "count": [3103]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3039443790912628]], [[0.3062681257724762]], [[0.30527350306510925]]], "std": [[[0.18437588214874268]], [[0.18503442406654358]], [[0.1851593554019928]]], "count": [3103]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3105511963367462]], [[0.31289979815483093]], [[0.3097098171710968]]], "std": [[[0.18424159288406372]], [[0.18344555795192719]], [[0.18218928575515747]]], "count": [3103]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5608002543449402]], [[0.5607878565788269]], [[0.5608243942260742]]], "std": [[[0.2964344024658203]], [[0.2961704134941101]], [[0.29719749093055725]]], "count": [3103]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6549019813537598]], [[0.6549019813537598]], [[0.6549019813537598]]], "mean": [[[0.003745166352018714]], [[0.003745166352018714]], [[0.003745166352018714]]], "std": [[[0.03774690628051758]], [[0.03774690628051758]], [[0.03774690628051758]]], "count": [3103]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4900285601615906]], [[0.4900285601615906]], [[0.4900285601615906]]], "std": [[[0.22107255458831787]], [[0.22107255458831787]], [[0.22107255458831787]]], "count": [3103]}}}
+{"episode_index": 29, "stats": {"observation.state": {"min": [1.049949288368225, -0.8093997240066528, -0.2239661067724228, 1.1526557207107544, -0.1317002773284912, -0.7687352895736694, 0.14357268810272217, 0.006921916734427214, -0.0003873718960676342, -0.2566066086292267, 9.754296479513869e-05, 0.0035161999985575676, 0.0037013005930930376, -0.04485152289271355, 0.003512654220685363, 0.0008194454712793231, -0.003246488282456994, -0.07556094229221344, 0.0031119983177632093, 0.0008429468725807965, -0.0034920477773994207, -0.026934271678328514, 0.0027978557627648115, 0.000848267984110862, 0.005853735841810703, -0.0031424746848642826, -0.026021214202046394, 0.005592519883066416, 0.0015945486957207322, 1.0254842042922974, -1.0699445009231567, -0.2431575208902359, 1.0405679941177368, -1.6893246173858643, -0.7699993848800659, -0.2712242007255554, 0.00558852031826973, -0.1357319951057434, -0.192668616771698, -0.28044402599334717, 0.0032513414043933153, 0.005320374388247728, -0.03250241279602051, 0.003568320767953992, 0.0007697821129113436, -0.0008590904762968421, -0.06454412639141083, 0.006427515763789415, 0.0011116612004116178, -0.0017822077497839928, -0.1199888214468956, 0.00355732929892838, 0.0008544759475626051, 0.00748601695522666, -0.002096210140734911, -0.1413029581308365, 0.003325445344671607, 0.0008713259594514966, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0003834952076431364, -0.00028762139845639467, -0.0001917476038215682, -0.7597998380661011], "max": [1.2067632675170898, -0.6877576112747192, -0.00038816904998384416, 1.569405198097229, 0.021199015900492668, 0.3485628366470337, 0.698157787322998, 1.43885338306427, 0.2978115379810333, 6.0798618505941704e-05, 0.2706014811992645, 0.6195213198661804, 0.36637502908706665, 0.1377672255039215, 0.033800479024648666, 0.03160807117819786, 0.18462884426116943, 0.22123980522155762, 0.02633976750075817, 0.022266481071710587, 0.0024158540181815624, 0.2039777636528015, 0.0028517493046820164, 0.001743095344863832, 0.24154551327228546, 0.003608326194807887, 0.21299797296524048, 0.005654213950037956, 0.001716490020044148, 1.498830795288086, -0.32899534702301025, -5.992112619424006e-07, 1.754774808883667, 0.02163236401975155, 0.0305990818887949, 0.6981431245803833, 1.4243191480636597, 0.25414010882377625, 0.3610103726387024, 0.2830403745174408, 0.5230507850646973, 1.050827145576477, 0.15013694763183594, 0.3290612995624542, 0.6591038107872009, 1.2953678369522095, 0.20558947324752808, 1.437761664390564, 1.0701807737350464, 1.4131792783737183, 0.24676717817783356, 1.5821431875228882, 1.1096466779708862, 0.17185086011886597, 1.373909592628479, 0.23302419483661652, 1.4815398454666138, 1.3081716299057007, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 0.00028762139845639467, 0.0932852029800415, -0.5999782085418701], "mean": [1.142595648765564, -0.7380973696708679, -0.22088436782360077, 1.203786849975586, -0.0158168263733387, 0.19170449674129486, 0.32425248622894287, 1.3775805234909058, 0.288412868976593, -0.11488314718008041, 0.1982363611459732, 0.584097146987915, 0.32137608528137207, 0.11581180989742279, 0.030365895479917526, 0.027516307309269905, 0.11169875413179398, 0.17094135284423828, 0.016568869352340698, 0.014374648220837116, 0.0003763359854929149, 0.1509847640991211, 0.002822250360623002, 0.001647145370952785, 0.23784546554088593, 3.282263423898257e-05, 0.15306401252746582, 0.005617067217826843, 0.0016691724304109812, 1.2543137073516846, -0.6142435669898987, -0.23423074185848236, 1.3244985342025757, -1.271653652191162, -0.2857731282711029, -0.002966853091493249, 1.272834300994873, 0.120163694024086, -0.011487106792628765, -0.09774765372276306, 0.15749268233776093, 0.8835050463676453, 0.09073059260845184, 0.08632595837116241, 0.22015054523944855, 1.1636509895324707, -0.020523423328995705, 1.263507604598999, 0.6514829993247986, 1.2989932298660278, -0.0739632099866867, 1.3814291954040527, 0.7355968952178955, 0.045730434358119965, 1.2327065467834473, -0.09184803068637848, 1.1080883741378784, 1.2509442567825317, 0.5626943111419678, -1.1068583726882935, 0.5441145896911621, -7.414574065478519e-05, 7.930009360279655e-08, 0.06307746469974518, -0.706853985786438], "std": [0.03585081174969673, 0.023754393681883812, 0.021824702620506287, 0.05737714841961861, 0.04550931975245476, 0.14881263673305511, 0.11440098285675049, 0.12992772459983826, 0.03219939395785332, 0.03301946073770523, 0.03736065328121185, 0.06609300523996353, 0.0470467135310173, 0.023098323494195938, 0.004342895466834307, 0.003973620478063822, 0.04670032486319542, 0.04391023516654968, 0.006766737904399633, 0.0053818016313016415, 0.0015411311760544777, 0.0446968749165535, 7.833402378309984e-06, 0.00013395221321843565, 0.02448001317679882, 0.001903794938698411, 0.049625273793935776, 7.449207259924151e-06, 1.5316521967179142e-05, 0.12278136610984802, 0.15424133837223053, 0.023982957005500793, 0.17193397879600525, 0.3687662184238434, 0.14173999428749084, 0.22146792709827423, 0.1703401505947113, 0.0608658529818058, 0.07102148234844208, 0.09114911407232285, 0.09794673323631287, 0.1928427666425705, 0.02971302904188633, 0.058730531483888626, 0.12596195936203003, 0.22038109600543976, 0.026635317131876945, 0.2667432427406311, 0.25650811195373535, 0.2537411153316498, 0.04264138266444206, 0.2887572646141052, 0.23471103608608246, 0.017450466752052307, 0.24459443986415863, 0.047801461070775986, 0.2521823048591614, 0.2568459212779999, 2.654089985298924e-05, 2.1340965759009123e-05, 6.563864735653624e-05, 0.00035940282396040857, 1.3507579751603771e-05, 0.01705285906791687, 0.026562754064798355], "count": [2418]}, "observation.state.joint_torque": {"min": [-35.70600128173828, -5.434500217437744, -17.53499984741211, -6.589000225067139, -1.2496000528335571, -1.0928000211715698, 1.0327999591827393, -0.5463433265686035, -0.3171083629131317, -0.3491957485675812, -0.3442250192165375, -0.10127562284469604, -0.4307994544506073, -0.5401783585548401, -0.10791664570569992, -0.04066966846585274, -0.3358124792575836, -0.3905019462108612, -0.11621791869401932, -0.03496164828538895, -0.17078463733196259, -0.5622460246086121, -0.0016602561809122562, -0.03068062849342823, -0.12578311562538147, -0.1324060708284378, -0.42983996868133545, -0.0016602561809122562, -0.0007135029300116003, 11.282999992370605, -13.928999900817871, -0.8050000071525574, -10.930999755859375, -2.484800100326538, -4.594399929046631, -4.21120023727417, -1.7179886102676392, -0.817604660987854, -0.6325289607048035, -1.1892539262771606, -0.24239739775657654, -0.6706655025482178, -0.8951802253723145, -0.09629485011100769, -0.06564227491617203, -1.4296016693115234, -1.5140345096588135, -0.2922050952911377, -0.11273347586393356, -0.5017998218536377, -0.49796193838119507, -0.16270509362220764, -0.04709119349718094, -0.12886172533035278, -0.4874078333377838, -0.471096932888031, -0.15772433578968048, -0.08990137279033661, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.795499801635742, 27.364500045776367, -10.689000129699707, 10.956999778747559, 1.5288000106811523, 2.1903998851776123, 2.394399881362915, 1.1652777194976807, 0.2827230989933014, 0.3554092347621918, 0.3603799641132355, 0.08135254681110382, 0.2916771173477173, 0.29455551505088806, 0.09297433495521545, 0.019264578819274902, 0.3262178599834442, 0.35883963108062744, 0.12949997186660767, 0.013556556776165962, 0.27344730496406555, 0.43271833658218384, 0.0016602561809122562, -0.0, 0.06069255247712135, 0.19477124512195587, 0.26193374395370483, 0.0016602561809122562, 0.0007135029300116003, 40.3754997253418, 12.927000045776367, 20.518999099731445, 4.558000087738037, 0.40639999508857727, 3.552799940109253, 2.944000005722046, 2.4782845973968506, 4.774454593658447, 2.530116081237793, 1.4154232740402222, 0.6192755699157715, 2.148240327835083, 1.8680769205093384, 1.0592433214187622, 0.2161913961172104, 0.5478540658950806, 0.26864996552467346, 0.335371732711792, 0.15625715255737305, 0.5296242833137512, 0.3079880177974701, 0.2125127911567688, 0.12629002332687378, 0.11918610334396362, 0.47685372829437256, 0.5699217319488525, 0.37687814235687256, 0.05993425101041794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.93795394897461, 2.8398420810699463, -13.148314476013184, -1.9499925374984741, -0.5337358713150024, -0.41929659247398376, 1.6411036252975464, -0.0005029779858887196, -0.003119563451036811, 0.028058702126145363, 0.007593890186399221, 0.0010052192956209183, 0.022204270586371422, 0.010833433829247952, 0.0008953589131124318, 0.00010150738671654835, 0.027814144268631935, 0.014822056517004967, 0.007045443635433912, 0.0006432756781578064, 0.025413865223526955, 0.048063308000564575, -2.746494828897994e-06, -0.000863109074998647, -0.0007353660184890032, 0.009472797624766827, 0.033731624484062195, 0.0, -1.7704786614558543e-06, 26.772546768188477, 1.018771767616272, 12.618002891540527, -1.8997554779052734, -0.5108190774917603, 1.3401219844818115, -0.9470073580741882, 0.1865626573562622, 1.2951445579528809, 0.38244831562042236, 0.18723903596401215, 0.13031505048274994, 1.052303671836853, 0.03286459296941757, 0.43840062618255615, 0.10978096723556519, -0.18404468894004822, -0.22884906828403473, -0.0022665446158498526, -0.0005544557934626937, -0.0024546021595597267, -0.022601768374443054, -0.005782750900834799, -0.0020000485237687826, -0.002208645921200514, -0.014982810243964195, -0.005651635117828846, -0.015002038329839706, 0.0011151086073368788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.5592572689056396, 0.9096614122390747, 0.5417577624320984, 0.6839544773101807, 0.2724933922290802, 0.3579846918582916, 0.19236239790916443, 0.04388895258307457, 0.0263515692204237, 0.054340943694114685, 0.0536375530064106, 0.010056696832180023, 0.06490258127450943, 0.06527206301689148, 0.007886584848165512, 0.004078856203705072, 0.04942040145397186, 0.05375363677740097, 0.020110221579670906, 0.004104013554751873, 0.04619814455509186, 0.07876995950937271, 0.00010673321958165616, 0.003560219192877412, 0.008588051423430443, 0.028482243418693542, 0.0644981637597084, 4.7748744691489264e-05, 4.100288060726598e-05, 4.344769477844238, 2.1008968353271484, 2.284773826599121, 1.8033654689788818, 0.31179267168045044, 0.9082799553871155, 0.6766247153282166, 0.6762317419052124, 1.4469408988952637, 0.5232741236686707, 0.3342825472354889, 0.15808527171611786, 1.007972240447998, 0.2096397876739502, 0.43744221329689026, 0.10182218253612518, 0.29222744703292847, 0.2820862829685211, 0.03125501424074173, 0.010668388567864895, 0.0734262466430664, 0.07890279591083527, 0.026700126007199287, 0.01065244060009718, 0.017687417566776276, 0.13267672061920166, 0.09587229043245316, 0.03867761418223381, 0.011395655572414398, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2418]}, "observation.state.tcp": {"min": [0.36179667711257935, 0.19247569143772125, 0.95853191614151, -1.2256762981414795, 1.2183648347854614, -1.758171558380127, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2583725154399872, -0.2589961886405945, 0.9506548643112183, -0.7527143955230713, 1.2178374528884888, 0.37625059485435486, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.39923563599586487, 0.24610206484794617, 1.0516248941421509, -0.887562096118927, 2.105501890182495, -1.2296322584152222, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46960020065307617, -0.04328194633126259, 1.1659445762634277, 1.2103973627090454, 2.0844788551330566, 1.5553512573242188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.386492520570755, 0.2318384051322937, 0.9886760115623474, -1.1348028182983398, 1.8699530363082886, -1.6327619552612305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3914635181427002, -0.14258651435375214, 1.0468711853027344, -0.1925186663866043, 1.7630335092544556, 0.7321262955665588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007502594497054815, 0.007241988088935614, 0.020994730293750763, 0.06481846421957016, 0.16713038086891174, 0.058150213211774826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.053086306899785995, 0.058709945529699326, 0.05213053524494171, 0.3604653477668762, 0.1548507660627365, 0.21143123507499695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2418]}, "action": {"min": [1.0500233173370361, -0.8094494938850403, -0.22396120429039001, 1.152655839920044, -0.13179507851600647, -0.7684546709060669, 0.14359664916992188, 0.0, 0.0, -0.260504812002182, 0.0, 0.0, 0.0, -0.04795810207724571, 0.0, 0.0, 0.0, -0.085658498108387, 0.0, 0.0, 0.0, -0.1291474997997284, 0.0, 0.0, 0.0, 0.0, -0.12118330597877502, 0.0, 0.0, 1.0254838466644287, -1.0699952840805054, -0.2431352287530899, 1.0405528545379639, -1.6895546913146973, -0.7699999809265137, -0.27128171920776367, 0.0, -0.1404106616973877, -0.19304031133651733, -0.28333112597465515, 0.0, 0.0, -0.04365982115268707, 0.0, 0.0, 0.0, -0.06881939619779587, 0.0, 0.0, 0.0, -0.12317907065153122, 0.0, 0.0, 0.0, 0.0, -0.14325620234012604, 0.0, 0.0, 0.5625876188278198, -1.1069587469100952, 0.5439882278442383, -0.0004228403849992901, -3.630331775639206e-05, -0.000135327922180295, -0.7597591876983643], "max": [1.2067127227783203, -0.6874922513961792, -0.0004970119334757328, 1.5692806243896484, 0.021223098039627075, 0.34856539964675903, 0.7517501711845398, 1.4436019659042358, 0.29497694969177246, 0.0, 0.2728952169418335, 0.6260004639625549, 0.3706904649734497, 0.13577185571193695, 0.0375676155090332, 0.03487871214747429, 0.19045792520046234, 0.2228078693151474, 0.03288391977548599, 0.025967346504330635, 0.0014709883835166693, 0.21084818243980408, 0.0005071870400570333, 0.0004861992783844471, 0.26180002093315125, 0.0, 0.22393226623535156, 0.0, 0.0, 1.4988294839859009, -0.32896366715431213, 0.0, 1.7551064491271973, 0.021602027118206024, 0.030699163675308228, 0.8294075131416321, 1.4322450160980225, 0.2866717576980591, 0.3666556179523468, 0.2868029475212097, 0.529190182685852, 1.1694309711456299, 0.15173815190792084, 0.3374885618686676, 0.6630550026893616, 1.37222421169281, 0.24507468938827515, 1.4454777240753174, 1.0706636905670166, 1.416072964668274, 0.2569964528083801, 1.588550090789795, 1.1109447479248047, 0.20592327415943146, 1.3778681755065918, 0.28025364875793457, 1.4914956092834473, 1.4818874597549438, 0.5626999735832214, -1.106863021850586, 0.5443446040153503, 0.00043188684503547847, 0.00010112945892615244, 0.09375730156898499, -0.6000000238418579], "mean": [1.1426266431808472, -0.7381481528282166, -0.22089415788650513, 1.2038354873657227, -0.015834195539355278, 0.1915738880634308, 0.3248636722564697, 1.3859695196151733, 0.28873854875564575, -0.11038900911808014, 0.19947579503059387, 0.5889890789985657, 0.3274401128292084, 0.11834170669317245, 0.03364349156618118, 0.03170907497406006, 0.11524946987628937, 0.17585977911949158, 0.021440967917442322, 0.017693456262350082, 2.0940053218510002e-05, 0.15839135646820068, 7.306248789973324e-06, 7.00182272339589e-06, 0.2582234740257263, 0.0, 0.1608748733997345, 0.0, 0.0, 1.2552367448806763, -0.6149722933769226, -0.23424780368804932, 1.3251168727874756, -1.2745815515518188, -0.28626903891563416, -0.002497735433280468, 1.2731726169586182, 0.12365260720252991, -0.011325678788125515, -0.09731652587652206, 0.1576208621263504, 0.9170022010803223, 0.08047809451818466, 0.08835199475288391, 0.2880367934703827, 1.1647576093673706, -0.02075313962996006, 1.2653990983963013, 0.6528290510177612, 1.3008850812911987, -0.07434703409671783, 1.383521318435669, 0.7375077605247498, 0.04233093932271004, 1.2333903312683105, -0.09247224032878876, 1.109340786933899, 1.3570935726165771, 0.5626975297927856, -1.1068624258041382, 0.5441612601280212, -8.103201253106818e-05, -9.343024771624187e-07, 0.0631047934293747, -0.7068812847137451], "std": [0.03583982586860657, 0.02381858043372631, 0.021776946261525154, 0.05746377259492874, 0.04553113877773285, 0.1489662081003189, 0.11567934602499008, 0.1451905071735382, 0.03468627855181694, 0.03509264811873436, 0.03998132795095444, 0.07211817800998688, 0.04795893654227257, 0.02251487411558628, 0.004609531722962856, 0.004273538012057543, 0.04734702780842781, 0.04282460734248161, 0.007831928320229053, 0.006056390702724457, 0.0001501094811828807, 0.047372300177812576, 5.227196015766822e-05, 5.009700544178486e-05, 0.030374491587281227, 0.0, 0.05252688378095627, 0.0, 0.0, 0.12300785630941391, 0.15456914901733398, 0.02393180876970291, 0.1721929907798767, 0.3653348982334137, 0.14186398684978485, 0.2229434698820114, 0.1766960471868515, 0.0640823170542717, 0.0711413323879242, 0.09078733623027802, 0.09910624474287033, 0.21285372972488403, 0.029906578361988068, 0.05992305651307106, 0.16339418292045593, 0.2156011313199997, 0.027963198721408844, 0.2620851993560791, 0.2551141083240509, 0.24784034490585327, 0.04231761768460274, 0.2834489345550537, 0.23318171501159668, 0.019474828615784645, 0.2382427304983139, 0.047126684337854385, 0.24831661581993103, 0.2743922472000122, 1.5287130736396648e-05, 6.8459362410067115e-06, 3.933242987841368e-05, 0.00039422052213922143, 9.412602594238706e-06, 0.017143182456493378, 0.026654409244656563], "count": [2418]}, "observation.state.tcp_pose": {"min": [0.36179667711257935, 0.19247569143772125, 0.95853191614151, -1.2256762981414795, 1.2183648347854614, -1.758171558380127, 0.2583725154399872, -0.2589961886405945, 0.9506548643112183, -0.7527143955230713, 1.2178374528884888, 0.37625059485435486], "max": [0.39923563599586487, 0.24610206484794617, 1.0516248941421509, -0.887562096118927, 2.105501890182495, -1.2296322584152222, 0.46960020065307617, -0.04328194633126259, 1.1659445762634277, 1.2103973627090454, 2.0844788551330566, 1.5553512573242188], "mean": [0.386492520570755, 0.2318384051322937, 0.9886760115623474, -1.1348028182983398, 1.8699530363082886, -1.6327619552612305, 0.3914635181427002, -0.14258651435375214, 1.0468711853027344, -0.1925186663866043, 1.7630335092544556, 0.7321262955665588], "std": [0.007502594497054815, 0.007241988088935614, 0.020994730293750763, 0.06481846421957016, 0.16713038086891174, 0.058150213211774826, 0.053086306899785995, 0.058709945529699326, 0.05213053524494171, 0.3604653477668762, 0.1548507660627365, 0.21143123507499695], "count": [2418]}, "action.tcp_pose": {"min": [0.3618173599243164, 0.1924838423728943, 0.9585455060005188, -1.225733757019043, 1.218489646911621, -1.7610089778900146, 0.25828513503074646, -0.26001855731010437, 0.9506556987762451, -0.7529563903808594, 1.217836856842041, 0.37497466802597046], "max": [0.399292528629303, 0.24613715708255768, 1.0516111850738525, -0.8614658117294312, 2.1055209636688232, -1.2297886610031128, 0.4695960283279419, -0.04324689134955406, 1.1658769845962524, 1.2088515758514404, 2.084510087966919, 1.5871502161026], "mean": [0.3865078389644623, 0.2318587750196457, 0.9887043833732605, -1.1345423460006714, 1.869309425354004, -1.6330360174179077, 0.3915046453475952, -0.14272835850715637, 1.0474222898483276, -0.19601888954639435, 1.7607139348983765, 0.7317010760307312], "std": [0.0075010801665484905, 0.007247796282172203, 0.021000400185585022, 0.06561069935560226, 0.16797776520252228, 0.05838118866086006, 0.05306963995099068, 0.058855634182691574, 0.052423495799303055, 0.35577860474586487, 0.15735028684139252, 0.2115267962217331], "count": [2418]}, "subtask_index": {"min": [50], "max": [1567], "mean": [1503.9247311827958], "std": [238.2343796448759], "count": [2418]}, "observation.tactile": {"min": [-0.007503526285290718, -4.028714829473756e-05, -8.790184801910073e-05, -0.0008433969924226403, -5.4672367696184665e-05, -0.00011567484762053937, -0.002156249713152647, -5.2647195843746886e-05, -0.00012062216410413384, -0.0008151877555064857, -1.5648065527784638e-05, -4.6841378207318485e-05, -0.013540738262236118, -5.000512101105414e-05, -0.00010967830166919157, -0.0009970504324883223, -6.444144673878327e-05, -0.00029347254894673824, -0.024205461144447327, -3.188445407431573e-05, -7.066496618790552e-05, -0.00176784407813102, -2.4920944269979373e-05, -0.0005250589456409216, -0.009335953742265701, -4.64106778963469e-05, -0.00010463575745234266, -0.0007836026488803327, -4.161796096013859e-05, -0.00020631654479075223, -2.3675312995910645, -4.0935650758910924e-05, -9.219285857398063e-05, -0.3247896134853363, -0.00729892635717988, -0.05771328881382942, -7.82732629776001, -2.1708154678344727, -0.3103185296058655, -0.3397826552391052, -0.04624231159687042, -0.11775176972150803, -2.0514185428619385, -4.576556966640055e-05, -0.00010096791083924472, -0.008941690437495708, -0.004530427046120167, -0.032585762441158295, -0.016541793942451477, -5.810063157696277e-05, -0.00013089069398120046, -0.0027990215457975864, -5.514216536539607e-05, -0.0003071460232604295, -0.25889724493026733, -4.135619383305311e-05, -9.128420788329095e-05, -0.0018211720744147897, -0.0005552177899517119, -0.004425905644893646], "max": [0.0036278818733990192, 0.01632293313741684, 0.044710058718919754, 1.6463627616758458e-06, 0.00025149760767817497, 8.236072972067632e-06, 0.006260715425014496, 0.01647607982158661, 0.04900927469134331, 2.061622126348084e-06, 0.00029303482733666897, 7.4437703005969524e-06, 0.0012657565530389547, 0.01734974794089794, 0.04973231628537178, 2.0287188817746937e-06, 0.00012091215467080474, 8.832595085550565e-06, 0.016371384263038635, 0.03205080330371857, 0.08912481367588043, 1.3058408967481228e-06, 0.0003401856229174882, 0.00019690448243636638, 0.0022536807227879763, 0.0147299999371171, 0.0420454666018486, 1.950218120327918e-06, 0.00017186930926982313, 1.0259984264848754e-05, 11.070943832397461, 14.524324417114258, 19.9073486328125, 1.7013134083754267e-06, 0.06839261949062347, 0.20039096474647522, 8.567797660827637, 17.539592742919922, 19.950822830200195, 0.007449917029589415, 0.014226528815925121, 0.15994273126125336, 0.027664542198181152, 0.3852660357952118, 0.5700318813323975, 1.8506008245822159e-06, 0.0003894667897839099, 0.0003757061203941703, 0.06497325003147125, 0.049939561635255814, 0.1530383825302124, 2.395855290160398e-06, 0.0009513669065199792, 0.0008802651427686214, 0.005872644949704409, 0.02919064648449421, 0.08554521203041077, 1.6879139366210438e-06, 0.00016941784997470677, 9.81345001491718e-05], "mean": [-4.163519406574778e-05, 0.0012153780553489923, 0.003570028580725193, -5.3055904572829604e-05, 8.519015864294488e-06, -2.102253574776114e-06, 0.00010556739289313555, 0.0003883102326653898, 0.0011609015055000782, -1.922607043525204e-05, 4.150161032612232e-07, 2.0241507172613638e-06, -0.0003795428201556206, 0.0015411041676998138, 0.004484432749450207, -6.368860340444371e-05, -4.658232342080737e-07, -3.825079602393089e-06, -0.0009331964538432658, 0.003853041445836425, 0.011360516771674156, -0.00020731892436742783, 3.8718091673217714e-05, -2.9794653528369963e-05, -0.0002532198850531131, 0.0013442207127809525, 0.0038868661504238844, -6.601106724701822e-05, 7.258277491928311e-06, -5.852900358149782e-06, 2.8343122005462646, 3.8341710567474365, 7.40303373336792, -0.12632153928279877, 0.02085716463625431, 0.03785738721489906, -1.6986969709396362, 0.8913063406944275, 8.02987289428711, -0.12194662541151047, -0.0065015931613743305, -0.026279160752892494, -0.029704974964261055, 0.007659521419554949, 0.019033735617995262, -0.0003078118897974491, -1.5457240806426853e-05, -0.0004274070088285953, -0.00026092311600223184, 0.0014674300327897072, 0.004385982174426317, -8.860180241754279e-05, 1.6077699456218397e-06, -7.06537730366108e-06, -0.0017303655622527003, 0.0076946173794567585, 0.022102108225226402, -0.00045612655230797827, 3.686363197630271e-05, -4.646549859899096e-05], "std": [0.0007990426965989172, 0.0023580598644912243, 0.006791875697672367, 0.00010587419819785282, 3.215571632608771e-05, 1.4368853044288699e-05, 0.00043622817611321807, 0.0009559720056131482, 0.0028018562588840723, 4.656130840885453e-05, 1.1638768228294794e-05, 7.910667591204401e-06, 0.001312738168053329, 0.002539682434871793, 0.00732786487787962, 0.0001079921203199774, 1.2487392268667463e-05, 2.3283577320398763e-05, 0.0038967207074165344, 0.004647229798138142, 0.01367705874145031, 0.00025961612118408084, 5.4738491598982364e-05, 7.16752911102958e-05, 0.0009781535482034087, 0.00231599691323936, 0.006687751971185207, 0.00012032937229378149, 2.0590563508449122e-05, 2.154819230781868e-05, 3.4659790992736816, 3.779815673828125, 6.84321928024292, 0.11654789745807648, 0.0213665459305048, 0.0550168976187706, 2.294419288635254, 1.9886876344680786, 7.427244186401367, 0.1130208745598793, 0.009200533851981163, 0.03663608804345131, 0.19578787684440613, 0.0292053185403347, 0.05788227170705795, 0.0009039756841957569, 0.0003804059815593064, 0.002800156595185399, 0.0022161772940307856, 0.0031527685932815075, 0.009337796829640865, 0.00020074409258086234, 2.5349165298393928e-05, 4.0358820115216076e-05, 0.0076839979737997055, 0.0057058478705585, 0.01628122106194496, 0.00034828574280254543, 4.069622082170099e-05, 0.00012910534860566258], "count": [2418]}, "timestamp": {"min": [0.0], "max": [80.56666666666666], "mean": [40.28333333333333], "std": [23.267213858576635], "count": [2418]}, "frame_index": {"min": [0], "max": [2417], "mean": [1208.5], "std": [698.0164157572991], "count": [2418]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2418]}, "index": {"min": [67933], "max": [70350], "mean": [69141.5], "std": [698.0164157572991], "count": [2418]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2418]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5727876424789429]], [[0.5732571482658386]], [[0.5735477209091187]]], "std": [[[0.29874187707901]], [[0.2980034351348877]], [[0.2986367344856262]]], "count": [2418]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3059292435646057]], [[0.30865612626075745]], [[0.3068315386772156]]], "std": [[[0.18396255373954773]], [[0.18418842554092407]], [[0.18416427075862885]]], "count": [2418]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3087199032306671]], [[0.3118324279785156]], [[0.3085826635360718]]], "std": [[[0.1833849996328354]], [[0.1825885772705078]], [[0.18150940537452698]]], "count": [2418]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5718294382095337]], [[0.5719550251960754]], [[0.5718668699264526]]], "std": [[[0.302655428647995]], [[0.3022755980491638]], [[0.30321216583251953]]], "count": [2418]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6823529601097107]], [[0.6823529601097107]], [[0.6823529601097107]]], "mean": [[[0.004448539111763239]], [[0.004448539111763239]], [[0.004448539111763239]]], "std": [[[0.04294624552130699]], [[0.04294624552130699]], [[0.04294624552130699]]], "count": [2418]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48996493220329285]], [[0.48996493220329285]], [[0.48996493220329285]]], "std": [[[0.22119581699371338]], [[0.22119581699371338]], [[0.22119581699371338]]], "count": [2418]}}}
+{"episode_index": 30, "stats": {"observation.state": {"min": [1.0512714385986328, -0.7793731689453125, -0.223772332072258, 1.060576319694519, -0.10145353525876999, -0.7667211890220642, 0.15297766029834747, 0.006947573274374008, -0.00032015994656831026, -0.2465089112520218, 0.0001270900247618556, 0.0035151364281773567, 0.003663767594844103, -0.06671810150146484, 0.003486062167212367, 0.0008469377062283456, -0.0026776061858981848, -0.10053686797618866, 0.006874619517475367, 0.0008358521736226976, -0.003212879877537489, -0.026878831908106804, 0.002795728389173746, 0.0008611272787675261, 0.005863368511199951, -0.002944015199318528, -0.025975337252020836, 0.005591101944446564, 0.0016224844148382545, 1.0509493350982666, -1.0426956415176392, -0.24257761240005493, 1.0673327445983887, -1.7009352445602417, -0.7676143050193787, -0.3625703752040863, 0.005552204325795174, -0.1528846025466919, -0.19249889254570007, -0.18171745538711548, 0.0032672968227416277, 0.007055236492305994, -0.12141335010528564, 0.003805523505434394, 0.0007968309218995273, -0.001533949514850974, -0.0913846492767334, 0.004597616847604513, 0.000919215613976121, -0.0017341255443170667, -0.1447022408246994, 0.003575412090867758, 0.00085270224371925, 0.00656123599037528, -0.0016455596778541803, -0.1661844551563263, 0.0033031078055500984, 0.0008544759475626051, 0.5625874400138855, -1.1069588661193848, 0.5438920855522156, -0.0006711165769957006, -0.0001917476038215682, -0.0001917476038215682, -0.7517464756965637], "max": [1.2581387758255005, -0.6569422483444214, -0.0021321135573089123, 1.5678040981292725, 0.1309703141450882, 0.3832961320877075, 0.6981537342071533, 1.3690855503082275, 0.29787731170654297, -0.0035803010687232018, 0.2677212059497833, 0.5548494458198547, 0.3445751667022705, 0.11301600933074951, 0.030067993327975273, 0.031598757952451706, 0.2203654944896698, 0.22117993235588074, 0.030161600559949875, 0.02713215909898281, 0.013029382564127445, 0.2289765179157257, 0.0028478489257395267, 0.0017293492564931512, 0.24088619649410248, 0.003638259368017316, 0.23864850401878357, 0.005636840593069792, 0.0017102820565924048, 1.4693965911865234, -0.33658814430236816, -0.0022048575337976217, 1.7256112098693848, 0.19692479074001312, 0.019279981032013893, 0.6981516480445862, 1.3818801641464233, 0.25886502861976624, 0.3262992799282074, 0.28839462995529175, 0.3666127026081085, 1.1870626211166382, 0.11043677479028702, 0.4720848798751831, 0.5592835545539856, 1.3187350034713745, 0.15548208355903625, 1.344708800315857, 0.8412202596664429, 1.436548113822937, 0.1977367401123047, 1.4875551462173462, 1.0453180074691772, 0.2419426292181015, 1.4169446229934692, 0.2055840790271759, 1.518059492111206, 1.308203101158142, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 9.58738019107841e-05, 0.0003834952076431364, 0.0818762257695198, -0.6000741124153137], "mean": [1.119220495223999, -0.6900281310081482, -0.2210027128458023, 1.112423300743103, 0.1100853756070137, 0.24943988025188446, 0.24429945647716522, 1.3306528329849243, 0.28845855593681335, -0.0893639400601387, 0.17939898371696472, 0.5325706005096436, 0.2999590337276459, 0.10298378020524979, 0.029258113354444504, 0.027806319296360016, 0.12718665599822998, 0.170923113822937, 0.019301122054457664, 0.015666574239730835, 0.0017654779367148876, 0.17059960961341858, 0.002822056645527482, 0.0016647459706291556, 0.23764988780021667, -6.81973688188009e-05, 0.18644315004348755, 0.005614434834569693, 0.0016702673165127635, 1.287712812423706, -0.6182047128677368, -0.2344854474067688, 1.3452917337417603, -1.3294428586959839, -0.25719568133354187, -0.0926925390958786, 1.242002248764038, 0.07197306305170059, 0.013628684915602207, -0.06185058876872063, 0.13131052255630493, 0.9050695896148682, 0.06031373143196106, 0.1088048666715622, 0.20351295173168182, 1.1996957063674927, -0.05774056911468506, 1.15348482131958, 0.4490196704864502, 1.3263719081878662, -0.11058715730905533, 1.2751182317733765, 0.6349568963050842, 0.0372290275990963, 1.2701865434646606, -0.12858982384204865, 1.1032843589782715, 1.2470042705535889, 0.5626938343048096, -1.1068511009216309, 0.5440801382064819, -0.0003769730683416128, -4.3186386022853185e-08, 0.05363506078720093, -0.6971523761749268], "std": [0.03299478814005852, 0.016936680302023888, 0.020575255155563354, 0.06946071982383728, 0.03023855946958065, 0.17173337936401367, 0.10290918499231339, 0.12283942848443985, 0.03293668478727341, 0.039002202451229095, 0.048955872654914856, 0.06356161832809448, 0.04440764710307121, 0.021471794694662094, 0.0036115350667387247, 0.004127495922148228, 0.06433118134737015, 0.047860875725746155, 0.008927298709750175, 0.007799540180712938, 0.003987685311585665, 0.05263581871986389, 7.796430509188212e-06, 0.00010090116848004982, 0.023499201983213425, 0.0016849886160343885, 0.057797860354185104, 6.688414487143746e-06, 1.357914607069688e-05, 0.10977811366319656, 0.16343092918395996, 0.022461310029029846, 0.15800273418426514, 0.31577008962631226, 0.13079559803009033, 0.17396411299705505, 0.15946076810359955, 0.0706128180027008, 0.09407937526702881, 0.08664120733737946, 0.08391175419092178, 0.1967371553182602, 0.028387246653437614, 0.08083013445138931, 0.12765687704086304, 0.23469585180282593, 0.025935795158147812, 0.25537100434303284, 0.12318504601716995, 0.2661089599132538, 0.04509792476892471, 0.2785201966762543, 0.21764643490314484, 0.025378357619047165, 0.2577909827232361, 0.05144970118999481, 0.2714735269546509, 0.26478955149650574, 2.749933992163278e-05, 2.8776965336874127e-05, 3.382705835974775e-05, 5.36328625457827e-05, 1.2377106031635776e-05, 0.016035117208957672, 0.03008580580353737], "count": [2220]}, "observation.state.joint_torque": {"min": [-36.64500045776367, -16.345500946044922, -20.013999938964844, -11.265000343322754, -0.7975999712944031, -2.052799940109253, 1.0080000162124634, -0.7526547908782959, -0.2839966416358948, -0.4349413514137268, -0.4200291037559509, -0.1759871542453766, -0.37323158979415894, -0.7128819227218628, -0.0796922892332077, -0.04066966846585274, -0.31854212284088135, -0.42504265904426575, -0.11123716086149216, -0.03496164828538895, -0.31566372513771057, -0.4950835406780243, -0.0016602561809122562, -0.03068062849342823, -0.10863086581230164, -0.1208924874663353, -0.6294084787368774, -0.0, -0.0, 9.394499778747559, -13.704000473022461, -2.9860000610351562, -9.164999961853027, -2.4407999515533447, -4.686399936676025, -3.1215999126434326, -1.7001591920852661, -0.8112369775772095, -0.6934207677841187, -0.8661546111106873, -0.4034422039985657, -1.0141537189483643, -0.9815319180488586, -0.19923073053359985, -0.08205283433198929, -1.4708586931228638, -1.2703306674957275, -0.3270704448223114, -0.09204187989234924, -0.9546669125556946, -0.3952992558479309, -0.388499915599823, -0.04923170804977417, -0.13941693305969238, -1.0496538877487183, -0.39433979988098145, -0.29552558064460754, -0.09703640639781952, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.805500030517578, 17.78849983215332, -10.57699966430664, 6.892000198364258, 1.548799991607666, 1.1232000589370728, 3.421600103378296, 0.3463994860649109, 0.258526086807251, 0.51198810338974, 0.3566519021987915, 0.09297433495521545, 0.7464631795883179, 0.2772851586341858, 0.08467306196689606, 0.020691584795713425, 0.35692068934440613, 0.39433979988098145, 0.1145576685667038, 0.012843053787946701, 0.3310151696205139, 0.4087317883968353, 0.0016602561809122562, -0.0, 0.07520598918199539, 0.18133874237537384, 0.3482855260372162, 0.0016602561809122562, 0.0007135029300116003, 40.9275016784668, 11.456999778747559, 21.822999954223633, 3.318000078201294, 0.3431999981403351, 3.5871999263763428, 1.9567999839782715, 2.4426257610321045, 4.982039451599121, 2.3859639167785645, 1.482528567314148, 0.6840255260467529, 2.1472809314727783, 0.8347339034080505, 1.0592433214187622, 0.21476440131664276, 0.49316462874412537, 0.2820824682712555, 0.13116022944450378, 0.03139413148164749, 0.32813677191734314, 0.3665153384208679, 0.10957689583301544, 0.07135029137134552, 0.09983484447002411, 0.4480697810649872, 0.39625871181488037, 0.167685866355896, 0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.29774284362793, 2.862517833709717, -12.538214683532715, -1.6376794576644897, -0.4177718460559845, -0.6381595730781555, 1.5639796257019043, -0.0009448153432458639, -0.003650205209851265, 0.03684308007359505, 0.010499070398509502, 0.0026137842796742916, 0.022174933925271034, 0.005862236488610506, 0.00043600500794127584, 5.624484401778318e-05, 0.02586236409842968, 0.009229836985468864, 0.004534302745014429, 0.00046409788774326444, 0.024273231625556946, 0.044523075222969055, -2.991452674905304e-06, -0.00045542040606960654, -0.0006258260691538453, 0.01046072505414486, 0.03274810314178467, 7.47863168726326e-07, 9.641930773796048e-07, 27.4124813079834, 0.8293687701225281, 13.149538040161133, -1.7983084917068481, -0.6023958921432495, 1.4443025588989258, -0.9456942081451416, 0.22573259472846985, 1.1180413961410522, 0.414371520280838, 0.18929588794708252, 0.11503109335899353, 1.0489387512207031, 0.012365440838038921, 0.40546590089797974, 0.10684436559677124, -0.16808423399925232, -0.22739751636981964, -0.0022749989293515682, -0.0015774192288517952, -0.0036943904124200344, -0.020465126261115074, -0.00164753885474056, -0.002043119166046381, -0.0032531428150832653, 0.002182107651606202, -0.010401548817753792, -0.01237039640545845, 0.0007993205217644572, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.589135468006134, 0.9877316951751709, 0.6327571272850037, 0.6798945069313049, 0.30436304211616516, 0.39606547355651855, 0.2050068974494934, 0.03723422437906265, 0.027971914038062096, 0.055326029658317566, 0.059029459953308105, 0.012994546443223953, 0.06067083775997162, 0.06414277106523514, 0.007110345643013716, 0.004008614923804998, 0.04900695011019707, 0.053219057619571686, 0.015354646369814873, 0.003892868058755994, 0.04445406049489975, 0.07157281786203384, 9.96205271803774e-05, 0.00261055794544518, 0.008700449019670486, 0.027501434087753296, 0.06354955583810806, 3.522838233038783e-05, 2.621080966491718e-05, 3.9493062496185303, 1.9014586210250854, 1.7972463369369507, 1.6279208660125732, 0.2830865681171417, 0.7507703900337219, 0.4956076443195343, 0.6562981009483337, 1.407575011253357, 0.5815999507904053, 0.37691551446914673, 0.15686358511447906, 1.0473135709762573, 0.12960025668144226, 0.4349386394023895, 0.10376307368278503, 0.32058340311050415, 0.29434236884117126, 0.031299613416194916, 0.009223347529768944, 0.07051999866962433, 0.06304846704006195, 0.030411096289753914, 0.010036008432507515, 0.015581509098410606, 0.13140666484832764, 0.08441003412008286, 0.036866817623376846, 0.011468701995909214, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2220]}, "observation.state.tcp": {"min": [0.3619914948940277, 0.19240586459636688, 0.9506102204322815, -1.3591190576553345, 1.2202858924865723, -1.7415308952331543, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.273397296667099, -0.2617347538471222, 0.9667600393295288, -0.6711763143539429, 1.2193865776062012, 0.38449978828430176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4133605360984802, 0.24512484669685364, 1.0559126138687134, -0.9025094509124756, 2.0410900115966797, -1.2285703420639038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45896151661872864, -0.048464953899383545, 1.1401073932647705, 1.2500700950622559, 2.1030118465423584, 1.5012160539627075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.392890602350235, 0.23431214690208435, 0.9705732464790344, -1.313860535621643, 1.8865529298782349, -1.6320154666900635, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3965606093406677, -0.1404321789741516, 1.059188723564148, -0.22497160732746124, 1.792136311531067, 0.6507073640823364, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.007437468506395817, 0.006490820553153753, 0.0214166808873415, 0.06616052240133286, 0.15707586705684662, 0.06046473607420921, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04896235838532448, 0.05551329627633095, 0.048055101186037064, 0.3075551390647888, 0.16203610599040985, 0.18482375144958496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2220]}, "action": {"min": [1.0505892038345337, -0.7793751955032349, -0.22376945614814758, 1.0605807304382324, -0.1014937236905098, -0.7646476626396179, 0.1529662311077118, 0.0, 0.0, -0.249564990401268, 0.0, 0.0, 0.0, -0.07627183198928833, 0.0, 0.0, 0.0, -0.11246144771575928, 0.0, 0.0, 0.0, -0.1534227430820465, 0.0, 0.0, 0.0, 0.0, -0.17280039191246033, 0.0, 0.0, 1.0500038862228394, -1.042737364768982, -0.2425607144832611, 1.067304253578186, -1.7009247541427612, -0.7699815034866333, -0.362633615732193, 0.0, -0.16158612072467804, -0.19336776435375214, -0.17417319118976593, 0.0, 0.0, -0.1214134469628334, 0.0, 0.0, 0.0, -0.09226185828447342, 0.0, 0.0, 0.0, -0.1442498117685318, 0.0, 0.0, 0.0, 0.0, -0.165378600358963, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5440840125083923, -0.0005586837651208043, -9.549330570735037e-06, -6.245207937908648e-19, -0.7516657710075378], "max": [1.2582498788833618, -0.6564450263977051, -0.0026283382903784513, 1.5673068761825562, 0.1312515288591385, 0.38329800963401794, 0.8030917048454285, 1.380083680152893, 0.29561200737953186, 0.0, 0.2706061601638794, 0.5607228875160217, 0.34796005487442017, 0.11594649404287338, 0.03597230091691017, 0.03387437388300896, 0.2277923822402954, 0.21850739419460297, 0.037899669259786606, 0.02958717569708824, 0.013577813282608986, 0.23550160229206085, 0.0035464551765471697, 0.0034821585286408663, 0.26180002093315125, 0.0, 0.2506529986858368, 0.0, 0.0, 1.4694081544876099, -0.3365478813648224, -9.22403978620423e-06, 1.7262195348739624, 0.1969045251607895, 0.01935974508523941, 0.7932372093200684, 1.3889809846878052, 0.28697410225868225, 0.3295230567455292, 0.29030558466911316, 0.3715073764324188, 1.1854439973831177, 0.1101306900382042, 0.4781865179538727, 0.5711135864257812, 1.439370036125183, 0.19800281524658203, 1.3475531339645386, 0.8468216061592102, 1.440477967262268, 0.20664094388484955, 1.496471881866455, 1.047451138496399, 0.26180002093315125, 1.4228357076644897, 0.26623427867889404, 1.5293643474578857, 1.4701887369155884, 0.5626999735832214, -1.106863021850586, 0.5442000031471252, 8.483004561401958e-21, 1.116005387302721e-05, 0.08285745233297348, -0.6000000238418579], "mean": [1.1192889213562012, -0.6900520920753479, -0.221006840467453, 1.1125270128250122, 0.1100662499666214, 0.24934221804141998, 0.24520337581634521, 1.337345838546753, 0.2893075942993164, -0.08538880944252014, 0.18197831511497498, 0.5384237170219421, 0.30861952900886536, 0.10412663966417313, 0.03336092084646225, 0.0309994425624609, 0.13150300085544586, 0.17489230632781982, 0.023760687559843063, 0.019455863162875175, 0.00214600283652544, 0.17657989263534546, 0.000595584511756897, 0.000585816684179008, 0.2582533061504364, 0.0, 0.19408418238162994, 0.0, 0.0, 1.28866708278656, -0.6186594367027283, -0.23450390994548798, 1.3458606004714966, -1.3321876525878906, -0.25765329599380493, -0.09207087010145187, 1.2424150705337524, 0.07452759146690369, 0.014455712400376797, -0.06098496541380882, 0.13130737841129303, 0.9448118209838867, 0.05041167885065079, 0.11281803995370865, 0.2702436149120331, 1.2016690969467163, -0.05818129703402519, 1.1553635597229004, 0.45032447576522827, 1.328736424446106, -0.11146830767393112, 1.2772324085235596, 0.6371303796768188, 0.03170272335410118, 1.272276520729065, -0.12953251600265503, 1.105186939239502, 1.3587795495986938, 0.5626941323280334, -1.106856107711792, 0.5441586375236511, -0.000407297135097906, -7.564199790977e-07, 0.053680840879678726, -0.6971747279167175], "std": [0.033084239810705185, 0.017004037275910378, 0.02057097665965557, 0.06977821886539459, 0.030306920409202576, 0.17180630564689636, 0.10642896592617035, 0.1414983868598938, 0.035513561218976974, 0.04016505554318428, 0.04973164573311806, 0.06825800985097885, 0.04740988835692406, 0.0204667579382658, 0.004501304589211941, 0.004300269763916731, 0.06662439554929733, 0.045138049870729446, 0.010431267321109772, 0.008011757396161556, 0.0038095302879810333, 0.05462074279785156, 0.0010242074495181441, 0.0010072648292407393, 0.030226416885852814, 0.0, 0.062486205250024796, 0.0, 0.0, 0.10989189147949219, 0.16385018825531006, 0.022488560527563095, 0.15860968828201294, 0.3096396028995514, 0.13108408451080322, 0.17669779062271118, 0.16816535592079163, 0.07336094975471497, 0.09443376958370209, 0.08575280755758286, 0.08521226048469543, 0.21762017905712128, 0.026086915284395218, 0.08242066204547882, 0.1494673490524292, 0.23002244532108307, 0.02742334082722664, 0.2514701783657074, 0.12267126142978668, 0.260481059551239, 0.044341813772916794, 0.2738320529460907, 0.21732892096042633, 0.0284450463950634, 0.2520314157009125, 0.05046124383807182, 0.26842379570007324, 0.2847619354724884, 1.0739626304712147e-05, 8.03123475634493e-06, 9.756479812494945e-06, 4.546219133771956e-05, 3.6950789308320964e-06, 0.016077708452939987, 0.03015352599322796], "count": [2220]}, "observation.state.tcp_pose": {"min": [0.3619914948940277, 0.19240586459636688, 0.9506102204322815, -1.3591190576553345, 1.2202858924865723, -1.7415308952331543, 0.273397296667099, -0.2617347538471222, 0.9667600393295288, -0.6711763143539429, 1.2193865776062012, 0.38449978828430176], "max": [0.4133605360984802, 0.24512484669685364, 1.0559126138687134, -0.9025094509124756, 2.0410900115966797, -1.2285703420639038, 0.45896151661872864, -0.048464953899383545, 1.1401073932647705, 1.2500700950622559, 2.1030118465423584, 1.5012160539627075], "mean": [0.392890602350235, 0.23431214690208435, 0.9705732464790344, -1.313860535621643, 1.8865529298782349, -1.6320154666900635, 0.3965606093406677, -0.1404321789741516, 1.059188723564148, -0.22497160732746124, 1.792136311531067, 0.6507073640823364], "std": [0.007437468506395817, 0.006490820553153753, 0.0214166808873415, 0.06616052240133286, 0.15707586705684662, 0.06046473607420921, 0.04896235838532448, 0.05551329627633095, 0.048055101186037064, 0.3075551390647888, 0.16203610599040985, 0.18482375144958496], "count": [2220]}, "action.tcp_pose": {"min": [0.36230847239494324, 0.1925642043352127, 0.9505619406700134, -1.359242558479309, 1.2202348709106445, -1.750586986541748, 0.2730785608291626, -0.2646487057209015, 0.9667403697967529, -0.6716333627700806, 1.2178421020507812, 0.38408175110816956], "max": [0.4132454991340637, 0.2458818107843399, 1.056087613105774, -0.839232861995697, 2.041002035140991, -1.2319127321243286, 0.458945095539093, -0.048402611166238785, 1.1397979259490967, 1.2403422594070435, 2.1029584407806396, 1.5040420293807983], "mean": [0.39290115237236023, 0.23429812490940094, 0.9706358313560486, -1.313367247581482, 1.8856867551803589, -1.632581114768982, 0.39660778641700745, -0.1404198408126831, 1.0597959756851196, -0.2285289466381073, 1.789846658706665, 0.6509888172149658], "std": [0.00743798166513443, 0.006567797623574734, 0.02157299593091011, 0.06899410486221313, 0.1591501086950302, 0.05961636081337929, 0.048964161425828934, 0.05557319149374962, 0.04825933650135994, 0.2986684739589691, 0.16480062901973724, 0.18617013096809387], "count": [2220]}, "subtask_index": {"min": [50], "max": [1624], "mean": [1461.7144144144145], "std": [415.28741970278344], "count": [2220]}, "observation.tactile": {"min": [-0.020998535677790642, -4.147988147451542e-05, -9.082308679353446e-05, -0.0015851081116124988, -0.00020939725800417364, -0.0002945820742752403, -0.004432715009897947, -4.922212610836141e-05, -0.00011412760795792565, -0.0007336015114560723, -4.056430043419823e-06, -9.277552453568205e-05, -0.01311979815363884, -4.22269877162762e-05, -9.36586584430188e-05, -0.0011920509859919548, -7.592764450237155e-05, -0.00025735091185197234, -0.015296450816094875, -3.533605922712013e-05, -7.669118349440396e-05, -0.0010032171849161386, -5.570061694015749e-05, -0.0003246379492338747, -0.00786368828266859, -4.096331394976005e-05, -9.034214599523693e-05, -0.00136387359816581, -4.3465672206366435e-05, -0.00017981692508328706, -11.560072898864746, -3.787868263316341e-05, -8.807382255326957e-05, -0.24794158339500427, -0.023723436519503593, -0.22569671273231506, -7.7709736824035645, -3.3918497562408447, -0.00010741203732322901, -0.2436467409133911, -0.029221998527646065, -0.16446372866630554, -4.333836555480957, -0.1478905975818634, -0.8835896849632263, -0.007113942876458168, -0.005180518142879009, -0.08671131730079651, -0.0070760007947683334, -5.549682828132063e-05, -0.00012503750622272491, -0.0018247907282784581, -3.9860362448962405e-05, -0.00015981716569513083, -0.18437762558460236, -4.495195025810972e-05, -0.00010070141433971003, -0.0017638119170442224, -0.0002431463508401066, -0.0027441077399998903], "max": [0.002831145888194442, 0.02340533211827278, 0.06665428727865219, 1.713573738015839e-06, 0.00019928233814425766, 4.003760841442272e-05, 0.008865016512572765, 0.011825427412986755, 0.03617944195866585, 1.9312326458020834e-06, 0.0002155688707716763, 0.00010944314999505877, 0.00033378874650225043, 0.018968278542160988, 0.05533473566174507, 1.7600882529222872e-06, 9.13158874027431e-05, 7.05152660884778e-06, 0.006502971984446049, 0.0170761626213789, 0.04892406612634659, 1.4308097888715565e-06, 0.00020034699991811067, 4.9926486099138856e-05, 0.017692290246486664, 0.020632989704608917, 0.059465691447257996, 1.6635822248645127e-06, 0.0002723079524002969, 0.00021134878625161946, 6.017221450805664, 17.368452072143555, 11.625448226928711, 1.633623242014437e-06, 0.038887813687324524, 0.07627087086439133, 0.3188931941986084, 7.025934219360352, 14.702349662780762, 2.030823225140921e-06, 0.013191509060561657, 0.007692368235439062, 0.010315366089344025, 1.2932493686676025, 0.2840912640094757, 0.016161205247044563, 0.002143825637176633, 0.0001279873395105824, 0.1042085662484169, 0.03557616472244263, 0.11327065527439117, 2.2672536488244077e-06, 0.0006486380007117987, 0.0014866647543385625, 0.0003652287705335766, 0.03267012536525726, 0.08387559652328491, 1.8608880054671317e-06, 7.188993185991421e-05, 7.607238785567461e-06], "mean": [-0.0016364363254979253, 0.0022797149140387774, 0.006750829517841339, -0.00011094521323684603, -1.3925956409366336e-05, -1.9969995264546014e-05, 0.00020843316451646388, 0.00019995326874777675, 0.0006151237175799906, -1.0943052075162996e-05, 2.4598651293672447e-07, 3.596003352868138e-06, -0.0006634596502408385, 0.0014939503744244576, 0.0043830545619130135, -7.290961366379634e-05, -2.015548034250969e-06, -1.0173335795116145e-05, -0.0007067322148941457, 0.001400891924276948, 0.004093600437045097, -6.65708867018111e-05, 3.7824027003807714e-06, -1.222413447976578e-05, -0.00012257690832484514, 0.001790796173736453, 0.005273378454148769, -0.0001015820525935851, 8.976047865871806e-06, -6.089253020036267e-06, 1.338722825050354, 2.239532709121704, 3.8795292377471924, -0.0620361752808094, 0.010218871757388115, 0.015325243584811687, -1.4056010246276855, 0.29260435700416565, 4.752336025238037, -0.07959938049316406, -0.004699111450463533, -0.023656124249100685, -0.014054098166525364, 0.008991173468530178, 0.01819095015525818, -0.00037891409010626376, 2.3274338673218153e-05, -0.0002906255249399692, -0.00032346913940273225, 0.003394857281818986, 0.010119589045643806, -0.0002080521226162091, 1.0190033208345994e-05, -1.1620434634096455e-05, -0.002335496013984084, 0.005484984256327152, 0.015529421158134937, -0.0003431079094298184, -2.23770912270993e-05, -4.294924292480573e-05], "std": [0.0028250571340322495, 0.0031569229904562235, 0.009275502525269985, 0.00017677558935247362, 3.5378510801820084e-05, 3.783336796914227e-05, 0.0004220261180307716, 0.0007920055650174618, 0.0023346359375864267, 4.3172873120056465e-05, 8.970827366283629e-06, 8.079021426965483e-06, 0.0016257097013294697, 0.0024617519229650497, 0.007134486921131611, 0.0001344724150840193, 7.956110493978485e-06, 3.214654861949384e-05, 0.001767810550518334, 0.0026585848536342382, 0.007731469348073006, 0.0001285180915147066, 1.426724065822782e-05, 3.2447038393002003e-05, 0.0013112040469422936, 0.003130896482616663, 0.009225020185112953, 0.00018726455164141953, 3.0243505534599535e-05, 2.4484545065206476e-05, 1.6934467554092407, 2.3375449180603027, 3.7745625972747803, 0.06094980984926224, 0.011472159996628761, 0.02339915931224823, 1.5612602233886719, 0.945310115814209, 4.800538063049316, 0.08003942668437958, 0.008498438633978367, 0.026108218356966972, 0.1789446920156479, 0.04650517553091049, 0.033756423741579056, 0.000681353616528213, 0.00023613858502358198, 0.00352472229860723, 0.003611432621255517, 0.004434523172676563, 0.013087835162878036, 0.0002827072748914361, 2.9028211429249495e-05, 5.475115904118866e-05, 0.004486977122724056, 0.004528168588876724, 0.012888772413134575, 0.0002859644591808319, 2.0706243958557025e-05, 6.946700159460306e-05], "count": [2220]}, "timestamp": {"min": [0.0], "max": [73.96666666666667], "mean": [36.983333333333334], "std": [21.3619577927853], "count": [2220]}, "frame_index": {"min": [0], "max": [2219], "mean": [1109.5], "std": [640.8587337835592], "count": [2220]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2220]}, "index": {"min": [70351], "max": [72570], "mean": [71460.5], "std": [640.8587337835592], "count": [2220]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2220]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5698179006576538]], [[0.5702663660049438]], [[0.5704469680786133]]], "std": [[[0.29673394560813904]], [[0.2959943413734436]], [[0.29658958315849304]]], "count": [2220]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3025864362716675]], [[0.30539414286613464]], [[0.3033825159072876]]], "std": [[[0.18345893919467926]], [[0.18348991870880127]], [[0.18333843350410461]]], "count": [2220]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3095475733280182]], [[0.31234437227249146]], [[0.3091285228729248]]], "std": [[[0.1833689957857132]], [[0.18271759152412415]], [[0.18149317800998688]]], "count": [2220]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5690373778343201]], [[0.5691725611686707]], [[0.568946897983551]]], "std": [[[0.30141445994377136]], [[0.3010641634464264]], [[0.30196598172187805]]], "count": [2220]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392336845398]], [[0.6980392336845398]], [[0.6980392336845398]]], "mean": [[[0.003233702853322029]], [[0.003233702853322029]], [[0.003233702853322029]]], "std": [[[0.034856390208005905]], [[0.034856390208005905]], [[0.034856390208005905]]], "count": [2220]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48990851640701294]], [[0.48990851640701294]], [[0.48990851640701294]]], "std": [[[0.22096940875053406]], [[0.22096940875053406]], [[0.22096940875053406]]], "count": [2220]}}}
+{"episode_index": 31, "stats": {"observation.state": {"min": [1.0500622987747192, -0.7798208594322205, -0.22454160451889038, 1.0699282884597778, -0.09880729764699936, -0.7691803574562073, 0.1835937649011612, 0.0068944538943469524, -0.00020723641500808299, -0.24647822976112366, 0.0020985945593565702, 0.00350379035808146, 0.004126184619963169, -0.04117182642221451, 0.0034495422150939703, 0.0008212191751226783, -0.0014046690193936229, -0.011245938949286938, 0.006858664099127054, 0.0008380693034268916, -0.003239864017814398, -0.018170667812228203, 0.0027985647320747375, 0.000866004906129092, 0.005954348016530275, -0.0027695894241333008, -0.003874982940033078, 0.005586847197264433, 0.0008478245581500232, 0.8811380863189697, -1.0839473009109497, -0.24270249903202057, 1.0627907514572144, -1.706845998764038, -0.7805264592170715, -0.4173434376716614, 0.005565213039517403, -0.14070247113704681, -0.23978261649608612, -0.15255533158779144, 0.0032499232329428196, 0.0053392634727060795, -0.12871120870113373, 0.003575057489797473, 0.0008407297427766025, 8.855834312271327e-05, -0.08776949346065521, 0.004517131019383669, 0.0014109716285020113, -0.001745901070535183, -0.13763006031513214, 0.0035651298239827156, 0.0008589101489633322, 0.0062754531390964985, -0.0018938302528113127, -0.15947389602661133, 0.003234677016735077, 0.0008651180542074144, 0.5622998476028442, -1.1070547103881836, 0.543796181678772, -0.0005752427969127893, -9.58738019107841e-05, -9.58738019107841e-05, -0.7556772828102112], "max": [1.2558516263961792, -0.5614469647407532, -0.00032908678986132145, 1.5693585872650146, 0.14107182621955872, 0.1257185935974121, 0.6981606483459473, 1.3088161945343018, 0.2994089126586914, 0.001998589374125004, 0.24878612160682678, 0.4995414912700653, 0.32065925002098083, 0.09475556761026382, 0.030081113800406456, 0.031657733023166656, 0.16699469089508057, 0.1559496521949768, 0.026331257075071335, 0.022262046113610268, 0.02206183597445488, 0.1789400279521942, 0.0028492670971900225, 0.0037482536863535643, 0.24109169840812683, 0.03563261777162552, 0.2662990987300873, 0.005737536586821079, 0.008457847870886326, 1.43410325050354, -0.27599668502807617, -1.1504856047395151e-05, 1.828428030014038, 0.1473625898361206, -0.08858618885278702, 0.6247797012329102, 1.3562418222427368, 0.2365039736032486, 0.3926711082458496, 0.2334485799074173, 0.49517151713371277, 1.1292634010314941, 0.09841395169496536, 0.5247775316238403, 0.3897829055786133, 1.3098993301391602, 0.1744750440120697, 1.344710111618042, 0.6914288997650146, 1.4201372861862183, 0.174152210354805, 1.5036755800247192, 1.003694772720337, 0.24205395579338074, 1.3971089124679565, 0.20721469819545746, 1.4649324417114258, 1.3082011938095093, 0.5631626844406128, -1.1066712141036987, 0.5444673299789429, 0.0005752427969127893, 9.58738019107841e-05, 0.10661166161298752, -0.5941299200057983], "mean": [1.1668545007705688, -0.6177497506141663, -0.22116754949092865, 1.1537123918533325, 0.10814113914966583, -0.020408552139997482, 0.3123081922531128, 1.2330689430236816, 0.2866803705692291, -0.11500382423400879, 0.14418412744998932, 0.4662456512451172, 0.25474628806114197, 0.08037099987268448, 0.025931736454367638, 0.026008646935224533, 0.10278307646512985, 0.12793666124343872, 0.017156580463051796, 0.014989187009632587, 0.004130041692405939, 0.14019693434238434, 0.002822938608005643, 0.0017319259932264686, 0.2369699329137802, 0.01008298248052597, 0.23567341268062592, 0.005615586880594492, 0.0025116943288594484, 1.238484263420105, -0.6428471803665161, -0.22573694586753845, 1.3878182172775269, -1.36921226978302, -0.36786624789237976, -0.1402500718832016, 1.2283952236175537, -0.02081318199634552, 0.10770205408334732, 0.018523691222071648, 0.09834875911474228, 0.8750852942466736, 0.050852157175540924, 0.18764682114124298, 0.17010155320167542, 1.1873143911361694, -0.0602346695959568, 1.1446670293807983, 0.3819659650325775, 1.2877000570297241, -0.10871902108192444, 1.2819284200668335, 0.644922137260437, 0.027369940653443336, 1.2335114479064941, -0.12562699615955353, 1.0344280004501343, 1.236928105354309, 0.5626863837242126, -1.1068509817123413, 0.5440980792045593, -0.00028154722531326115, 1.077784304470697e-06, 0.07251846790313721, -0.698024332523346], "std": [0.05747615545988083, 0.04313579946756363, 0.022781506180763245, 0.08372220396995544, 0.043641913682222366, 0.13635489344596863, 0.09680642187595367, 0.12908175587654114, 0.03382689878344536, 0.03609978035092354, 0.048895277082920074, 0.061229072511196136, 0.03850267082452774, 0.01792505756020546, 0.002956335199996829, 0.0035109363961964846, 0.03802454471588135, 0.029821837320923805, 0.005049861967563629, 0.005338974762707949, 0.005380346439778805, 0.03331996500492096, 7.686058779654559e-06, 0.00039415949140675366, 0.02602497674524784, 0.010626108385622501, 0.0470096729695797, 1.279129628528608e-05, 0.0015063914470374584, 0.11427003890275955, 0.1747862696647644, 0.025937603786587715, 0.16336022317409515, 0.3384246528148651, 0.12313280254602432, 0.1741185188293457, 0.16963182389736176, 0.07443076372146606, 0.15727698802947998, 0.06818035244941711, 0.09172533452510834, 0.20174746215343475, 0.027628829702734947, 0.10970833152532578, 0.09804239124059677, 0.24989846348762512, 0.03051743656396866, 0.27297472953796387, 0.10221084207296371, 0.2801298499107361, 0.04711131751537323, 0.30878761410713196, 0.21170659363269806, 0.029718227684497833, 0.2740747332572937, 0.05687275901436806, 0.2879483699798584, 0.2882483899593353, 3.911846215487458e-05, 4.296930637792684e-05, 5.929737017140724e-05, 0.00024371611652895808, 1.2590975529747084e-05, 0.016239415854215622, 0.03083551861345768], "count": [1957]}, "observation.state.joint_torque": {"min": [-31.48349952697754, -7.747499942779541, -17.902999877929688, -7.492000102996826, -0.5192000269889832, -1.3287999629974365, 0.5752000212669373, -0.7450135946273804, -0.35149359703063965, -0.32061392068862915, -0.3951752781867981, -0.08633331209421158, -0.3885830044746399, -0.44423192739486694, -0.1062563955783844, -0.04066966846585274, -0.24466337263584137, -0.2341092824935913, -0.08467306196689606, -0.03424813970923424, -0.31086641550064087, -0.535381019115448, -0.0, -0.03638865053653717, -0.1024736538529396, -0.13336552679538727, -0.4173669219017029, -0.0016602561809122562, -0.02925362065434456, -5.927999973297119, -6.105000019073486, -8.177000045776367, -8.194000244140625, -1.9944000244140625, -6.746399879455566, -3.311199903488159, -1.2073041200637817, -0.9895309209823608, -1.4850139617919922, -1.3321633338928223, -0.10293588042259216, -1.544737458229065, -0.9498695731163025, -0.3337114453315735, -0.13770607113838196, -1.495804786682129, -1.4267233610153198, -0.27892303466796875, -0.03496164828538895, -0.884626030921936, -0.4212048053741455, -0.19923073053359985, -0.04709119349718094, -0.177679643034935, -0.9863292574882507, -0.520029604434967, -0.7985832095146179, -0.12272251397371292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.38599967956543, 11.572500228881836, -9.928000450134277, 1.7139999866485596, 1.968000054359436, 1.4279999732971191, 2.718400001525879, 0.9284015893936157, 0.22541436553001404, 0.31937122344970703, 0.32682737708091736, 0.09297433495521545, 0.3530828356742859, 0.24754177033901215, 0.0879935771226883, 0.014983562752604485, 0.33005568385124207, 0.2955150008201599, 0.11621791869401932, 0.012843053787946701, 0.29263657331466675, 0.4116101562976837, 0.0016602561809122562, 0.009275538846850395, 0.06113235652446747, 0.2225957065820694, 0.274406760931015, 0.0016602561809122562, 0.01212955079972744, 42.997501373291016, 12.461999893188477, 21.73200035095215, 2.3610000610351562, 0.21279999613761902, 2.9895999431610107, 2.1440000534057617, 2.4018728733062744, 5.018971920013428, 2.7624988555908203, 1.3644731044769287, 0.6591216325759888, 2.1501593589782715, 0.5823947787284851, 1.0559228658676147, 0.21405088901519775, 0.6159760355949402, 0.3223799765110016, 0.10957689583301544, 0.022118592634797096, 0.45382657647132874, 0.2792041003704071, 0.10957689583301544, 0.026399608701467514, 0.1130288764834404, 0.5171512365341187, 0.8731124401092529, 0.12617947161197662, 0.07919883728027344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.79884147644043, 1.4716813564300537, -13.098630905151367, -1.8022007942199707, -0.06308841705322266, -0.3406010866165161, 1.6719921827316284, 0.00014642717724200338, -0.003072216175496578, 0.017290377989411354, -0.019761724397540092, 0.003907597158104181, 0.029180102050304413, 0.017718447372317314, 0.0003919459704775363, 0.0003572980349417776, 0.012005302123725414, 0.0053395479917526245, 0.003756580874323845, 0.00013052271970082074, 0.020875325426459312, 0.030305277556180954, 3.3934720704564825e-06, -0.0008921519620344043, -0.0007398182642646134, 0.013680540025234222, 0.026727775111794472, -2.545104052842362e-06, -0.00014437767094932497, 26.401853561401367, 0.998529851436615, 13.07351016998291, -2.3811709880828857, -0.7253944277763367, 1.5124484300613403, -0.9427677989006042, 0.1896272450685501, 0.80087810754776, 0.3659602701663971, 0.1444123536348343, 0.09953214228153229, 0.8401870131492615, -0.03682588413357735, 0.2622458338737488, 0.08311653137207031, -0.09108329564332962, -0.17374347150325775, 0.0024110565427690744, -0.0001454715384170413, -0.0018900010036304593, -0.020255647599697113, 0.0017484879354014993, -0.0015407592291012406, -0.004140018485486507, -0.0068030268885195255, 0.00021768137230537832, -0.009884345345199108, 0.000864081725012511, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.903973400592804, 1.0017998218536377, 0.757847249507904, 0.733379602432251, 0.22931864857673645, 0.3953085243701935, 0.21569418907165527, 0.04721516743302345, 0.023635052144527435, 0.064554363489151, 0.06288737058639526, 0.012715103104710579, 0.06463491171598434, 0.051660340279340744, 0.007912036962807178, 0.004511177074164152, 0.03635990992188454, 0.036482539027929306, 0.01498364843428135, 0.004509839229285717, 0.04708699509501457, 0.07231999933719635, 7.498444028897211e-05, 0.004962132778018713, 0.008169597946107388, 0.030032608658075333, 0.06491310894489288, 8.388058631680906e-05, 0.0031391000375151634, 4.3433837890625, 2.144299030303955, 1.9204260110855103, 1.6326922178268433, 0.2677679657936096, 0.7853568196296692, 0.5204800367355347, 0.5948411822319031, 1.2036962509155273, 0.6033871173858643, 0.3366416394710541, 0.1467691957950592, 1.0037336349487305, 0.17643938958644867, 0.3304368853569031, 0.09967160224914551, 0.25832393765449524, 0.23949642479419708, 0.0289425328373909, 0.00858716107904911, 0.07070054858922958, 0.06480921804904938, 0.02717275358736515, 0.010228965431451797, 0.01995493285357952, 0.13282610476016998, 0.09917855262756348, 0.05535033345222473, 0.01344586256891489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1957]}, "observation.state.tcp": {"min": [0.36183875799179077, 0.17881828546524048, 0.9358651638031006, -1.3718438148498535, 1.2181092500686646, -1.6249794960021973, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.22190159559249878, -0.2734360992908478, 0.9242638349533081, -0.6174302101135254, 1.217841625213623, 0.35760992765426636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4233020842075348, 0.22745239734649658, 1.0532238483428955, -0.9014542102813721, 1.889014720916748, -1.2285019159317017, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4513082206249237, -0.0370524525642395, 1.140308141708374, 1.230448842048645, 2.042314052581787, 1.5206259489059448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41010791063308716, 0.19371385872364044, 0.9955313205718994, -1.2626649141311646, 1.7284770011901855, -1.5267329216003418, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.382280558347702, -0.1435815542936325, 1.0469865798950195, -0.16532883048057556, 1.7242045402526855, 0.6342544555664062, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011256473138928413, 0.008791433647274971, 0.029811549931764603, 0.07518298178911209, 0.12410973012447357, 0.05973966792225838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05179944261908531, 0.05820553004741669, 0.04875989258289337, 0.32432088255882263, 0.13395492732524872, 0.19007079303264618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1957]}, "action": {"min": [1.0501948595046997, -0.7797732949256897, -0.2245364487171173, 1.0699591636657715, -0.09885787963867188, -0.7689061164855957, 0.18358437716960907, 0.0, 0.0, -0.24904035031795502, 0.0, 0.0, 0.0, -0.04156145080924034, 0.0, 0.0, 0.0, -0.020648540928959846, 0.0, 0.0, 0.0, -0.027723483741283417, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8811529278755188, -1.084546446800232, -0.24267663061618805, 1.0627011060714722, -1.7068358659744263, -0.7808027863502502, -0.41744714975357056, 0.0, -0.14772677421569824, -0.2386983036994934, -0.15339314937591553, 0.0, 0.0, -0.13081474602222443, 0.0, 0.0, 0.0, -0.09434326738119125, 0.0, 0.0, 0.0, -0.13907714188098907, 0.0, 0.0, -4.68999994396313e-09, 0.0, -0.15855860710144043, 0.0, 0.0, 0.5625876784324646, -1.1068999767303467, 0.5439992547035217, -0.0005478971870616078, -6.311772449407727e-05, 1.7623446909911778e-18, -0.7557648420333862], "max": [1.2558504343032837, -0.5614308714866638, -0.0004683466686401516, 1.5692367553710938, 0.14108864963054657, 0.12575027346611023, 0.7304760217666626, 1.3166847229003906, 0.29543328285217285, 0.0, 0.26117169857025146, 0.5036192536354065, 0.32583266496658325, 0.09460711479187012, 0.03515290096402168, 0.033238351345062256, 0.1726720929145813, 0.1584484577178955, 0.03171519935131073, 0.026014409959316254, 0.022234156727790833, 0.19029608368873596, 0.006764944642782211, 0.0062799230217933655, 0.26180002093315125, 0.035028647631406784, 0.27304351329803467, 0.011214924044907093, 0.010831547901034355, 1.434119462966919, -0.2759326994419098, -0.00025854105479083955, 1.8288332223892212, 0.14733698964118958, -0.08829189836978912, 0.6248201131820679, 1.3651796579360962, 0.2738531827926636, 0.5015413761138916, 0.23678909242153168, 0.49862271547317505, 1.198886513710022, 0.09807401895523071, 0.5583117604255676, 0.3871613144874573, 1.3667693138122559, 0.19662272930145264, 1.350291132926941, 0.7016400098800659, 1.4226168394088745, 0.20304250717163086, 1.5082917213439941, 1.004530429840088, 0.26180002093315125, 1.4025919437408447, 0.26138821244239807, 1.4813228845596313, 1.4825682640075684, 0.5626999735832214, -1.106863021850586, 0.5442918539047241, 0.000478359084809199, 0.0001139971282100305, 0.10745251178741455, -0.5943518877029419], "mean": [1.1669317483901978, -0.6177892684936523, -0.22118259966373444, 1.1537890434265137, 0.10812748223543167, -0.020572442561388016, 0.31274691224098206, 1.2385066747665405, 0.2884853780269623, -0.11231710016727448, 0.1447969377040863, 0.47188490629196167, 0.261696457862854, 0.08187628537416458, 0.030695000663399696, 0.02880803868174553, 0.10610904544591904, 0.1329064667224884, 0.02179012820124626, 0.018347224220633507, 0.004465561360120773, 0.14693494141101837, 0.0015900529688224196, 0.0014756089076399803, 0.2575770318508148, 0.0104832137003541, 0.2428281009197235, 0.003823742037639022, 0.003716228064149618, 1.2399625778198242, -0.6437395215034485, -0.2257731407880783, 1.3886820077896118, -1.371398687362671, -0.3683779537677765, -0.14008519053459167, 1.2312031984329224, -0.017296263948082924, 0.10827165096998215, 0.019179869443178177, 0.09830611944198608, 0.9070011377334595, 0.04243658483028412, 0.18892744183540344, 0.19693523645401, 1.1900722980499268, -0.060788385570049286, 1.1465874910354614, 0.3834051489830017, 1.2906407117843628, -0.10935306549072266, 1.2848551273345947, 0.6469499468803406, 0.02263951674103737, 1.2362122535705566, -0.1263701170682907, 1.0362755060195923, 1.343273639678955, 0.5626866817474365, -1.1068456172943115, 0.5441515445709229, -0.0003061517491005361, 7.977774316714203e-07, 0.07254721224308014, -0.698063313961029], "std": [0.05747039243578911, 0.04318912327289581, 0.02270440012216568, 0.08387656509876251, 0.0436827689409256, 0.136660635471344, 0.09809760749340057, 0.14523184299468994, 0.03697554022073746, 0.03781058266758919, 0.05128423497080803, 0.0647004097700119, 0.04162624850869179, 0.017130831256508827, 0.004168265964835882, 0.0040380340069532394, 0.0385340116918087, 0.029005514457821846, 0.006587455980479717, 0.0053169336169958115, 0.005630808416754007, 0.0326177179813385, 0.001910428050905466, 0.0017762095667421818, 0.03268621489405632, 0.011304367333650589, 0.046697016805410385, 0.0038573367055505514, 0.0037398217245936394, 0.11445000022649765, 0.17513485252857208, 0.025830114260315895, 0.16363650560379028, 0.3332708477973938, 0.123855821788311, 0.17489053308963776, 0.17661772668361664, 0.0789773017168045, 0.15808826684951782, 0.06824804097414017, 0.09204074740409851, 0.22141198813915253, 0.027374712750315666, 0.11117538809776306, 0.11188937723636627, 0.24364012479782104, 0.03270488977432251, 0.26834583282470703, 0.10226992517709732, 0.2726544737815857, 0.04680590331554413, 0.30400654673576355, 0.21066604554653168, 0.03250288590788841, 0.2669532001018524, 0.05629038065671921, 0.28484249114990234, 0.3093152344226837, 6.38397250440903e-06, 1.824541323003359e-05, 2.9648892450495623e-05, 0.00026184937451034784, 1.4949499018257484e-05, 0.016390884295105934, 0.030913814902305603], "count": [1957]}, "observation.state.tcp_pose": {"min": [0.36183875799179077, 0.17881828546524048, 0.9358651638031006, -1.3718438148498535, 1.2181092500686646, -1.6249794960021973, 0.22190159559249878, -0.2734360992908478, 0.9242638349533081, -0.6174302101135254, 1.217841625213623, 0.35760992765426636], "max": [0.4233020842075348, 0.22745239734649658, 1.0532238483428955, -0.9014542102813721, 1.889014720916748, -1.2285019159317017, 0.4513082206249237, -0.0370524525642395, 1.140308141708374, 1.230448842048645, 2.042314052581787, 1.5206259489059448], "mean": [0.41010791063308716, 0.19371385872364044, 0.9955313205718994, -1.2626649141311646, 1.7284770011901855, -1.5267329216003418, 0.382280558347702, -0.1435815542936325, 1.0469865798950195, -0.16532883048057556, 1.7242045402526855, 0.6342544555664062], "std": [0.011256473138928413, 0.008791433647274971, 0.029811549931764603, 0.07518298178911209, 0.12410973012447357, 0.05973966792225838, 0.05179944261908531, 0.05820553004741669, 0.04875989258289337, 0.32432088255882263, 0.13395492732524872, 0.19007079303264618], "count": [1957]}, "action.tcp_pose": {"min": [0.3618665933609009, 0.1788513958454132, 0.9359133839607239, -1.3709763288497925, 1.218272089958191, -1.6250312328338623, 0.2209402620792389, -0.27438798546791077, 0.9241791367530823, -0.6174885034561157, 1.2180343866348267, 0.3569217920303345], "max": [0.42333710193634033, 0.22750075161457062, 1.0532135963439941, -0.8899998664855957, 1.8890085220336914, -1.2294687032699585, 0.45133185386657715, -0.037026409059762955, 1.1402301788330078, 1.222022533416748, 2.042586088180542, 1.5212374925613403], "mean": [0.4101250171661377, 0.19372397661209106, 0.9955650568008423, -1.2624186277389526, 1.7280008792877197, -1.5268999338150024, 0.38240423798561096, -0.14374452829360962, 1.0477946996688843, -0.16794636845588684, 1.7219328880310059, 0.6340903639793396], "std": [0.011250527575612068, 0.00880688987672329, 0.029842333868145943, 0.07602355629205704, 0.12492245435714722, 0.0598892942070961, 0.05174590274691582, 0.05834067240357399, 0.04915366321802139, 0.31852203607559204, 0.13631919026374817, 0.19021175801753998], "count": [1957]}, "subtask_index": {"min": [50], "max": [1676], "mean": [1542.5206949412366], "std": [398.31153370239616], "count": [1957]}, "observation.tactile": {"min": [-0.010228907689452171, -4.1937644709832966e-05, -9.288860746892169e-05, -0.0011497912928462029, -7.31906111468561e-05, -0.00015173917927313596, -0.004709484521299601, -4.5075932575855404e-05, -0.00010144605039386079, -0.0006262721726670861, -3.4089798646164127e-06, -9.507060894975439e-05, -0.006633463315665722, -4.7908608394209296e-05, -0.00010474852751940489, -0.0008053387864492834, -3.23617277899757e-05, -0.00012684278772212565, -0.014762751758098602, -3.4195960324723274e-05, -7.38804810680449e-05, -0.0012317773653194308, -1.2498976502683945e-05, -0.0002815471962094307, -0.007137220352888107, -4.239660847815685e-05, -9.495137783233076e-05, -0.0011170939542353153, -5.0929698772961274e-05, -0.000150262814713642, -2.9311814308166504, -4.741040229797363, -8.275369327748194e-05, -0.4232555627822876, -0.02567426487803459, -0.0780673697590828, -6.779566764831543, -4.586390787153505e-05, -0.00010709599882829934, -0.2391630858182907, -0.0399756096303463, -0.10827624797821045, -0.004429170396178961, -5.09854216943495e-05, -0.00011349677515681833, -0.0011292248964309692, -6.226222467375919e-05, -0.00010990056762238964, -0.010902777314186096, -5.833154864376411e-05, -0.00012983253691345453, -0.0012360869441181421, -5.454679558170028e-05, -0.00022599863586947322, -0.00701889069750905, -4.454912414075807e-05, -9.887829219223931e-05, -0.0008775160531513393, -3.853116504615173e-05, -0.00014254465349949896], "max": [0.00032294882112182677, 0.017623772844672203, 0.049650076776742935, 1.7475715594628127e-06, 0.0002031530166277662, 6.795422450522892e-06, 0.0003277058422099799, 0.011260884813964367, 0.03318548947572708, 1.7415587763025542e-06, 5.690502803190611e-05, 6.4325636230933014e-06, 0.01126372441649437, 0.016780367121100426, 0.04956763982772827, 1.93089999811491e-06, 0.0002453280030749738, 0.00014639557048212737, 0.01620705984532833, 0.022087402641773224, 0.06604958325624466, 1.3566935876951902e-06, 0.0003647638950496912, 0.00018020175048150122, 0.004140850622206926, 0.018355553969740868, 0.055320486426353455, 1.7718762137519661e-06, 0.00032341573387384415, 1.997773870243691e-05, 8.140262603759766, 12.500025749206543, 27.906892776489258, 1.5169224525379832e-06, 0.07238943129777908, 0.1300593465566635, 0.06269014626741409, 12.827138900756836, 14.974054336547852, 0.0058910963125526905, 0.020647387951612473, 0.008514679968357086, 0.026144566014409065, 0.01883821189403534, 0.06168423965573311, 2.079479372696369e-06, 0.0003334268694743514, 0.0003500270831864327, 0.0015756040811538696, 0.02094036526978016, 0.061198316514492035, 2.348382167838281e-06, 0.0001502622035332024, 1.0488854968571104e-05, 0.001799425226636231, 0.017098359763622284, 0.04894587770104408, 1.8320354229217628e-06, 0.00013096164911985397, 1.2051061275997199e-05], "mean": [-0.000572843651752919, 0.0013485824456438422, 0.004179075360298157, -6.255825428524986e-05, -3.2693221783119952e-06, -6.390336693584686e-06, 0.00010790956002892926, 0.0002596012782305479, 0.000788284232839942, -1.3767212294624187e-05, -1.1674636368752545e-07, 2.0309034880483523e-06, 0.0002978188858833164, 0.0006342927808873355, 0.001897877431474626, -3.160996857332066e-05, 4.4282542148721404e-06, 4.172817625658354e-06, 3.043143578906893e-06, 0.0015195745509117842, 0.0044645993039011955, -7.866710802773014e-05, 1.5432311556651257e-05, -4.139512839174131e-06, -3.703813854372129e-05, 0.0013941171346232295, 0.004094677045941353, -6.635016325162724e-05, 1.1376875590940472e-05, -3.0860001061228104e-06, 1.492429494857788, 2.4795703887939453, 6.219707489013672, -0.1056198999285698, 0.016675224527716637, 0.021609313786029816, -1.3801220655441284, 0.8883324265480042, 3.524296522140503, -0.05605689808726311, -0.002490374958142638, -0.021403558552265167, 0.0008208501967601478, 0.002300970023497939, 0.007055805530399084, -0.00011535041267052293, 3.2355583243770525e-05, 4.364565938885789e-06, 0.0001035856330418028, 0.0008108121110126376, 0.00245239888317883, -3.9278016629396006e-05, 2.6280108613718767e-06, 1.5671907931391615e-06, 6.172535358928144e-05, 0.0006973294075578451, 0.0020849991124123335, -3.23681379086338e-05, 1.41320708735293e-06, 1.8203086256107781e-06], "std": [0.0013112379238009453, 0.0021643966902047396, 0.006566895171999931, 0.00010240510164294392, 1.307958609686466e-05, 1.9946814063587226e-05, 0.0005235655698925257, 0.0009633307345211506, 0.0028179683722555637, 4.963269384461455e-05, 4.178916697128443e-06, 1.0404210115666501e-05, 0.0008619960281066597, 0.0017845981055870652, 0.00526158744469285, 8.822786912787706e-05, 2.474436587363016e-05, 1.0967219168378506e-05, 0.0016083335503935814, 0.0031484775245189667, 0.009253419935703278, 0.00017225535702891648, 4.199684917693958e-05, 2.76583759841742e-05, 0.0006454510730691254, 0.002515705768018961, 0.0073149846866726875, 0.00012460238940548152, 2.8808832212234847e-05, 1.4093197933107149e-05, 2.3290066719055176, 3.1980886459350586, 7.094444274902344, 0.11851576715707779, 0.02059149742126465, 0.03849921002984047, 1.72512686252594, 1.3428795337677002, 4.133118152618408, 0.06481102854013443, 0.009012885391712189, 0.027073385193943977, 0.0021344490814954042, 0.0033002288546413183, 0.010276652872562408, 0.0001718340499792248, 5.579948629019782e-05, 2.500399023119826e-05, 0.0008699203608557582, 0.0021624069195240736, 0.0064286161214113235, 0.00011714574065990746, 1.626784614927601e-05, 1.874395093182102e-05, 0.0006112049450166523, 0.0017239740118384361, 0.005051224958151579, 8.675249409861863e-05, 9.695818334876094e-06, 1.1697004993038718e-05], "count": [1957]}, "timestamp": {"min": [0.0], "max": [65.2], "mean": [32.6], "std": [18.831238821584616], "count": [1957]}, "frame_index": {"min": [0], "max": [1956], "mean": [978.0], "std": [564.9371646475385], "count": [1957]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1957]}, "index": {"min": [72571], "max": [74527], "mean": [73549.0], "std": [564.9371646475385], "count": [1957]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1957]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620867609977722]], [[0.5625485777854919]], [[0.563015878200531]]], "std": [[[0.29468682408332825]], [[0.29392993450164795]], [[0.29467132687568665]]], "count": [1957]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30375707149505615]], [[0.30642661452293396]], [[0.30378180742263794]]], "std": [[[0.1830589473247528]], [[0.18303419649600983]], [[0.18279966711997986]]], "count": [1957]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30816060304641724]], [[0.3114003837108612]], [[0.30775827169418335]]], "std": [[[0.18337133526802063]], [[0.1824135035276413]], [[0.1808479130268097]]], "count": [1957]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639730095863342]], [[0.5641433000564575]], [[0.5642226934432983]]], "std": [[[0.30091068148612976]], [[0.300459623336792]], [[0.30142369866371155]]], "count": [1957]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6274510025978088]], [[0.6274510025978088]], [[0.6274510025978088]]], "mean": [[[0.0031678369268774986]], [[0.0031678369268774986]], [[0.0031678369268774986]]], "std": [[[0.035443264991045]], [[0.035443264991045]], [[0.035443264991045]]], "count": [1957]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4901164770126343]], [[0.4901164770126343]], [[0.4901164770126343]]], "std": [[[0.2209610790014267]], [[0.2209610790014267]], [[0.2209610790014267]]], "count": [1957]}}}
+{"episode_index": 32, "stats": {"observation.state": {"min": [1.0507092475891113, -0.7795341610908508, -0.22444498538970947, 1.1132545471191406, -0.12199486047029495, -0.7669457793235779, 0.2291329801082611, 0.006904933601617813, -0.00026198173873126507, -0.26021134853363037, 0.0014714786084368825, 0.003512654220685363, 0.005406724754720926, -0.048445381224155426, 0.003439259948208928, 0.0008487114100717008, -0.0012555161956697702, -0.0826149582862854, 0.003097815904766321, 0.0008256534347310662, -0.003213370218873024, -0.026884226128458977, 0.002800337504595518, 0.000837182451505214, 0.005879423581063747, -0.0030087754130363464, -0.020887767896056175, 0.005609539337456226, 0.0008495982619933784, 0.9972804188728333, -1.0506737232208252, -0.2436324656009674, 1.0862008333206177, -1.7840933799743652, -0.7729040384292603, -0.4102632999420166, 0.005462589208036661, -0.16344907879829407, -0.2215437889099121, -0.1819348931312561, 0.005197182763367891, 0.005469525698572397, -0.17498604953289032, 0.003582857782021165, 0.0007875190931372344, -0.0014763014623895288, -0.11316490918397903, 0.004562515299767256, 0.0010908202966675162, -0.0018136082217097282, -0.14858096837997437, 0.0035637114197015762, 0.000859353574924171, 0.014675546437501907, -0.0014250300591811538, -0.16718284785747528, 0.003262687474489212, 0.0008828549762256444, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0005752427969127893, -9.58738019107841e-05, -0.0036432044580578804, -0.7298872470855713], "max": [1.286088466644287, -0.6448806524276733, -0.0022083332296460867, 1.5679811239242554, 0.09031803160905838, 0.16364291310310364, 0.6981433033943176, 1.3713877201080322, 0.29594114422798157, -0.004926204681396484, 0.24566683173179626, 0.5846940279006958, 0.395145982503891, 0.14295022189617157, 0.03380296006798744, 0.03158501163125038, 0.2744106650352478, 0.22186878323554993, 0.037768393754959106, 0.03162891045212746, 0.03458734601736069, 0.22888697683811188, 0.0028538766782730818, 0.0037859445437788963, 0.2407630980014801, 0.04388155788183212, 0.27793189883232117, 0.005658468697220087, 0.008572694845497608, 1.4843207597732544, -0.35189786553382874, -0.002086932770907879, 1.8163071870803833, 0.06499236822128296, -0.12757135927677155, 0.6692304015159607, 1.4017819166183472, 0.2306644320487976, 0.3577418029308319, 0.28741011023521423, 0.4246397614479065, 1.155202031135559, 0.08910718560218811, 0.5092490315437317, 0.6401212811470032, 1.301026463508606, 0.1428295224905014, 1.3911939859390259, 0.7275084257125854, 1.4345451593399048, 0.17002062499523163, 1.518198847770691, 1.0949547290802002, 0.2342318296432495, 1.413246512413025, 0.21416494250297546, 1.4826525449752808, 1.3081969022750854, 0.5627791881561279, -1.106767177581787, 0.5442755818367004, 0.00047936898772604764, 9.58738019107841e-05, 0.08158860355615616, -0.595568060874939], "mean": [1.1597810983657837, -0.6819687485694885, -0.22179055213928223, 1.2052356004714966, 0.0812683179974556, 0.02378109283745289, 0.3396872282028198, 1.3133569955825806, 0.2839367985725403, -0.14630217850208282, 0.15407519042491913, 0.556312084197998, 0.3327968716621399, 0.13077209889888763, 0.027849070727825165, 0.027781976386904716, 0.1521807163953781, 0.18110734224319458, 0.020573578774929047, 0.018428286537528038, 0.006772046443074942, 0.1812221258878708, 0.0028255481738597155, 0.0019225674914196134, 0.22441372275352478, 0.011414733715355396, 0.24900181591510773, 0.005632275715470314, 0.003611354622989893, 1.2314523458480835, -0.6310193538665771, -0.2287813425064087, 1.3909353017807007, -1.4252759218215942, -0.4025932252407074, -0.12058914452791214, 1.2429287433624268, -0.004881851840764284, 0.06433168053627014, 0.004967506043612957, 0.11880967766046524, 0.9041035175323486, 0.042783014476299286, 0.16115933656692505, 0.2110927850008011, 1.194892406463623, -0.06771638989448547, 1.1551467180252075, 0.42503732442855835, 1.2953096628189087, -0.11388970166444778, 1.287060260772705, 0.6365285515785217, 0.0265103280544281, 1.2582902908325195, -0.13137002289295197, 1.0315865278244019, 1.2488069534301758, 0.5626948475837708, -1.1068546772003174, 0.5440860390663147, -0.00035860121715813875, -4.0538598256034675e-08, 0.05513370782136917, -0.6710222363471985], "std": [0.05635480955243111, 0.025659101083874702, 0.02030668593943119, 0.07005249708890915, 0.026867682114243507, 0.13263918459415436, 0.07660943269729614, 0.12682756781578064, 0.03250344097614288, 0.038560353219509125, 0.04254228621721268, 0.06498143821954727, 0.04731706529855728, 0.023477165028452873, 0.0036215726286172867, 0.0038435880560427904, 0.07538045197725296, 0.040438298135995865, 0.009112506173551083, 0.007608531042933464, 0.0085691437125206, 0.03968772664666176, 8.047792107390705e-06, 0.0007579535013064742, 0.031256578862667084, 0.015254574827849865, 0.04566496983170509, 6.92756748321699e-06, 0.0028231991454958916, 0.11511456966400146, 0.15681412816047668, 0.02197652868926525, 0.1763005554676056, 0.30555298924446106, 0.11886996030807495, 0.17995360493659973, 0.15689876675605774, 0.08583856374025345, 0.14765651524066925, 0.0855722725391388, 0.09790603816509247, 0.20155583322048187, 0.03100503608584404, 0.10282044857740402, 0.11368733644485474, 0.22953808307647705, 0.0230903048068285, 0.26297008991241455, 0.12891800701618195, 0.25557878613471985, 0.042708054184913635, 0.2825760841369629, 0.21857479214668274, 0.02537139318883419, 0.2522619664669037, 0.051298629492521286, 0.27187541127204895, 0.2643534243106842, 3.262967220507562e-05, 3.561509583960287e-05, 3.802503852057271e-05, 0.00015543916379101574, 5.215780220169108e-06, 0.017859231680631638, 0.02810538187623024], "count": [2365]}, "observation.state.joint_torque": {"min": [-37.17150115966797, -2.2799999713897705, -20.308000564575195, -6.1020002365112305, -0.42800000309944153, -1.0839999914169312, 0.758400022983551, -0.7259107232093811, -0.3069201111793518, -0.27463439106941223, -0.479678213596344, -0.13116022944450378, -0.4183264374732971, -0.5104349851608276, -0.06807050108909607, -0.039242662489414215, -0.24274444580078125, -0.5113944411277771, -0.13448072969913483, -0.03424813970923424, -0.1890144646167755, -0.34924498200416565, -0.0016602561809122562, -0.03496164828538895, -0.09587664157152176, -0.1304871290922165, -0.5843137502670288, -0.0, -0.027113113552331924, 11.791500091552734, -5.736000061035156, 4.8480000495910645, -9.090999603271484, -2.3336000442504883, -2.345599889755249, -4.3024001121521, -1.4505478143692017, -0.8698192834854126, -0.7021195888519287, -0.8214178085327148, -0.28058329224586487, -1.0851540565490723, -0.8721529841423035, -0.28722429275512695, -0.06635577231645584, -1.5591293573379517, -1.228114128112793, -0.6524806022644043, -0.026399608701467514, -1.5284265279769897, -0.3406098186969757, -0.6558011174201965, -0.05850724130868912, -0.13633833825588226, -1.500602126121521, -0.471096932888031, -0.17930765450000763, -0.0891878679394722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.974000930786133, 8.314499855041504, -10.270000457763672, 0.9549999833106995, 1.409600019454956, 1.284000039100647, 2.7639999389648438, 0.2712613642215729, 0.203764408826828, 0.41381561756134033, 0.390204519033432, 0.0879935771226883, 0.3502044677734375, 0.2657715976238251, 0.10127562284469604, 0.015697065740823746, 0.3099069595336914, 0.3818667531013489, 0.13116022944450378, 0.013556556776165962, 0.2820824682712555, 0.42792102694511414, 0.0016602561809122562, 0.010702544823288918, 0.06816916912794113, 0.22835250198841095, 0.29263657331466675, 0.0016602561809122562, 0.012843053787946701, 37.60350036621094, 8.73449993133545, 22.024999618530273, 1.934999942779541, 0.35920000076293945, 3.6456000804901123, 1.323199987411499, 2.51776385307312, 4.5235700607299805, 2.6009490489959717, 1.528508186340332, 0.6591216325759888, 2.141524314880371, 0.7445442080497742, 1.0592433214187622, 0.21476440131664276, 0.6562735438346863, 0.30415016412734985, 0.11787818372249603, 0.02996712550520897, 0.3837856650352478, 0.31566372513771057, 0.14776279032230377, 0.03068062849342823, 0.12182490527629852, 0.4854888916015625, 0.3972181975841522, 0.12285894900560379, 0.08490685373544693, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.8807373046875, 2.1362764835357666, -13.33768081665039, -1.965646505355835, -0.09643424302339554, -0.34708350896835327, 1.6674045324325562, 0.00032954956986941397, -0.0026095202192664146, 0.030610712245106697, 0.004402220249176025, 0.0031843397300690413, 0.02470187470316887, 0.01392256747931242, 0.0007020114571787417, 9.26200082176365e-05, 0.02414441853761673, 0.0059774499386549, 0.003937587607651949, 0.00038375300937332213, 0.020354824140667915, 0.027376584708690643, 7.722120244579855e-06, -0.0032878455240279436, -0.002972235670313239, 0.009724041447043419, 0.018888700753450394, 1.4040221003597253e-06, -3.258252763771452e-05, 26.385723114013672, 0.990399956703186, 12.990850448608398, -2.649502754211426, -0.709125816822052, 1.5908715724945068, -0.8757781386375427, 0.2609142065048218, 0.9745446443557739, 0.44502314925193787, 0.23139405250549316, 0.10706737637519836, 0.8677377104759216, -0.01642449013888836, 0.36214587092399597, 0.09068069607019424, -0.09842561185359955, -0.17505061626434326, -0.0018617315217852592, -0.000747896614484489, -0.004389600362628698, -0.00965630728751421, -0.0023482264950871468, -0.002907116198912263, -0.0034752681385725737, -0.018320290371775627, 0.009212462231516838, -0.01348352711647749, 0.0008785330574028194, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.7641417980194092, 0.9434680938720703, 0.7156746983528137, 0.6550684571266174, 0.17978842556476593, 0.3746682405471802, 0.18881776928901672, 0.0395503044128418, 0.024040918797254562, 0.056233812123537064, 0.06172274425625801, 0.012073943391442299, 0.05787861347198486, 0.04953354224562645, 0.007642433047294617, 0.003753212047740817, 0.04503770172595978, 0.04496460035443306, 0.016153551638126373, 0.0037585177924484015, 0.04136604070663452, 0.0622575618326664, 0.00013199725071899593, 0.00680265948176384, 0.011562807485461235, 0.030544642359018326, 0.055485278367996216, 4.8259138566209e-05, 0.0026893233880400658, 4.222376823425293, 1.8493515253067017, 1.6433639526367188, 1.877110242843628, 0.2839853763580322, 0.7264586687088013, 0.4695119261741638, 0.6895277500152588, 1.2504465579986572, 0.6690929532051086, 0.43424147367477417, 0.15246517956256866, 1.0076502561569214, 0.1636505275964737, 0.4375973343849182, 0.10196054726839066, 0.24598640203475952, 0.22637394070625305, 0.030961478129029274, 0.008548627607524395, 0.07886579632759094, 0.05711812898516655, 0.030566615983843803, 0.009700257331132889, 0.019057048484683037, 0.13004757463932037, 0.08582321554422379, 0.038156233727931976, 0.012089138850569725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2365]}, "observation.state.tcp": {"min": [0.36209288239479065, 0.19238904118537903, 0.9520642161369324, -1.3249982595443726, 1.2183953523635864, -1.6816790103912354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25602397322654724, -0.25802186131477356, 0.9569224119186401, -0.6111682057380676, 1.2199345827102661, 0.3684983253479004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41285091638565063, 0.23360463976860046, 1.0757466554641724, -0.8964996337890625, 1.9031037092208862, -1.2306755781173706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4520437717437744, -0.054232653230428696, 1.1637194156646729, 1.2117072343826294, 1.9544930458068848, 1.5728057622909546, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39878857135772705, 0.21063104271888733, 0.9956714510917664, -1.237073302268982, 1.7332175970077515, -1.5684770345687866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3782251477241516, -0.13509084284305573, 1.0475397109985352, -0.22764159739017487, 1.6763726472854614, 0.6603840589523315, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00909853633493185, 0.007749077398329973, 0.02972419373691082, 0.06088733300566673, 0.11328845471143723, 0.056151434779167175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05791406333446503, 0.05214019864797592, 0.04665333405137062, 0.2863600552082062, 0.12355687469244003, 0.1860240399837494, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2365]}, "action": {"min": [1.0501703023910522, -0.7796315550804138, -0.2244405746459961, 1.1132454872131348, -0.12199810147285461, -0.7659326195716858, 0.22912952303886414, 0.0, 0.0, -0.26455357670783997, 0.0, 0.0, 0.0, -0.053661808371543884, 0.0, 0.0, 0.0, -0.09193968772888184, 0.0, 0.0, 0.0, -0.11363211274147034, 0.0, 0.0, 0.0, 0.0, -0.0779871717095375, 0.0, 0.0, 0.997333288192749, -1.0512956380844116, -0.2436152845621109, 1.0861783027648926, -1.7841085195541382, -0.774252712726593, -0.41027048230171204, 0.0, -0.16172492504119873, -0.220302551984787, -0.15197668969631195, 0.0, 0.0, -0.17724406719207764, 0.0, 0.0, 0.0, -0.12109112739562988, 0.0, 0.0, 0.0, -0.1475890874862671, 0.0, 0.0, 0.0, 0.0, -0.16747140884399414, 0.0, 0.0, 0.5626833438873291, -1.1068999767303467, 0.5439226031303406, -0.0006290925666689873, -0.00011800944776041433, -0.003609045874327421, -0.7297524809837341], "max": [1.2862811088562012, -0.6448842287063599, -0.0014217279385775328, 1.5674906969070435, 0.09031312167644501, 0.16373524069786072, 0.7769578695297241, 1.3845388889312744, 0.2937917709350586, 0.0, 0.26478949189186096, 0.5909609198570251, 0.39936381578445435, 0.14465667307376862, 0.0374116376042366, 0.03611667454242706, 0.2847341001033783, 0.22127221524715424, 0.0418022982776165, 0.03350381553173065, 0.03472574055194855, 0.2345234751701355, 0.007558989804238081, 0.007388079538941383, 0.26180002093315125, 0.049307357519865036, 0.28145599365234375, 0.0139082670211792, 0.012752946466207504, 1.484324336051941, -0.35186856985092163, -0.0001829350076150149, 1.8167532682418823, 0.06496641784906387, -0.12737201154232025, 0.6693832874298096, 1.404118537902832, 0.2657819986343384, 0.35795050859451294, 0.2935856282711029, 0.4265706241130829, 1.2254611253738403, 0.08961611241102219, 0.5173169374465942, 0.6489021182060242, 1.4675196409225464, 0.16392523050308228, 1.3945610523223877, 0.7497462034225464, 1.436681866645813, 0.20107224583625793, 1.5271530151367188, 1.095813512802124, 0.2616899907588959, 1.419417142868042, 0.2638382613658905, 1.4891568422317505, 1.4859156608581543, 0.5626999735832214, -1.106863021850586, 0.54425448179245, 0.00042270999983884394, 0.00010667966853361577, 0.08178289979696274, -0.5950764417648315], "mean": [1.1598721742630005, -0.681976318359375, -0.22180691361427307, 1.2052937746047974, 0.08123550564050674, 0.023640532046556473, 0.34031790494918823, 1.3198485374450684, 0.28662988543510437, -0.14405710995197296, 0.1549101173877716, 0.5615648627281189, 0.33934643864631653, 0.13067151606082916, 0.03329118713736534, 0.03213987126946449, 0.1560809314250946, 0.18484139442443848, 0.02614709548652172, 0.02153370901942253, 0.0076485867612063885, 0.18754971027374268, 0.0018619154579937458, 0.0018217312172055244, 0.2368285357952118, 0.012991216033697128, 0.2543354630470276, 0.004180566407740116, 0.0039121247828006744, 1.2326250076293945, -0.631656289100647, -0.2287965714931488, 1.3913562297821045, -1.4254430532455444, -0.40274107456207275, -0.12051283568143845, 1.242873191833496, -0.002256021834909916, 0.06688243895769119, 0.007064407225698233, 0.11832687258720398, 0.9302422404289246, 0.033348698168992996, 0.1736719310283661, 0.30038970708847046, 1.1970372200012207, -0.06740329414606094, 1.1563197374343872, 0.4262809753417969, 1.2970454692840576, -0.11353176832199097, 1.2883809804916382, 0.6383408904075623, 0.021867388859391212, 1.2596747875213623, -0.13152311742305756, 1.032593846321106, 1.3560688495635986, 0.5626972317695618, -1.1068607568740845, 0.544156551361084, -0.00038877580664120615, 7.360691824942478e-07, 0.05519498884677887, -0.6710643172264099], "std": [0.056403763592243195, 0.02566705271601677, 0.020279284566640854, 0.0701729878783226, 0.027004631236195564, 0.1329086720943451, 0.07896269857883453, 0.14483210444450378, 0.0352836474776268, 0.04103182628750801, 0.044289879500865936, 0.0705317035317421, 0.050309307873249054, 0.022342868149280548, 0.004380267579108477, 0.004291022662073374, 0.07779853045940399, 0.037682559341192245, 0.010532649233937263, 0.00809134729206562, 0.01040151808410883, 0.04075855016708374, 0.002487459219992161, 0.0024337214417755604, 0.04221009463071823, 0.016895901411771774, 0.04435492306947708, 0.005140370223671198, 0.004795031156390905, 0.1151183620095253, 0.15731050074100494, 0.02198047563433647, 0.17662246525287628, 0.3054288327693939, 0.11937793344259262, 0.18055321276187897, 0.16708612442016602, 0.08649519830942154, 0.15007106959819794, 0.08281250298023224, 0.09865584224462509, 0.22049137949943542, 0.03137959539890289, 0.10813041776418686, 0.17741025984287262, 0.22397781908512115, 0.025335006415843964, 0.25916722416877747, 0.12907151877880096, 0.24949029088020325, 0.04223122447729111, 0.278225839138031, 0.2182430922985077, 0.02729690447449684, 0.24608024954795837, 0.050535064190626144, 0.26912516355514526, 0.28416046500205994, 1.380622688884614e-05, 4.667973371397238e-06, 1.9642409824882634e-05, 0.00016445630171801895, 9.871660950011574e-06, 0.017913222312927246, 0.028172258287668228], "count": [2365]}, "observation.state.tcp_pose": {"min": [0.36209288239479065, 0.19238904118537903, 0.9520642161369324, -1.3249982595443726, 1.2183953523635864, -1.6816790103912354, 0.25602397322654724, -0.25802186131477356, 0.9569224119186401, -0.6111682057380676, 1.2199345827102661, 0.3684983253479004], "max": [0.41285091638565063, 0.23360463976860046, 1.0757466554641724, -0.8964996337890625, 1.9031037092208862, -1.2306755781173706, 0.4520437717437744, -0.054232653230428696, 1.1637194156646729, 1.2117072343826294, 1.9544930458068848, 1.5728057622909546], "mean": [0.39878857135772705, 0.21063104271888733, 0.9956714510917664, -1.237073302268982, 1.7332175970077515, -1.5684770345687866, 0.3782251477241516, -0.13509084284305573, 1.0475397109985352, -0.22764159739017487, 1.6763726472854614, 0.6603840589523315], "std": [0.00909853633493185, 0.007749077398329973, 0.02972419373691082, 0.06088733300566673, 0.11328845471143723, 0.056151434779167175, 0.05791406333446503, 0.05214019864797592, 0.04665333405137062, 0.2863600552082062, 0.12355687469244003, 0.1860240399837494], "count": [2365]}, "action.tcp_pose": {"min": [0.3620080053806305, 0.19248078763484955, 0.9520384073257446, -1.3250117301940918, 1.2193524837493896, -1.6902878284454346, 0.2560461163520813, -0.25972995162010193, 0.9568542242050171, -0.6129032373428345, 1.2180029153823853, 0.36845067143440247], "max": [0.4128183126449585, 0.2336551398038864, 1.0758320093154907, -0.8529794812202454, 1.9029572010040283, -1.2312484979629517, 0.4518167972564697, -0.054191622883081436, 1.1633553504943848, 1.2086782455444336, 1.9544893503189087, 1.5730875730514526], "mean": [0.39881178736686707, 0.21062824130058289, 0.9957209825515747, -1.236702561378479, 1.7325676679611206, -1.5688118934631348, 0.378408282995224, -0.1352948397397995, 1.048107624053955, -0.2279248684644699, 1.6747604608535767, 0.6601763367652893], "std": [0.009098919108510017, 0.007757032290101051, 0.029771702364087105, 0.06252062320709229, 0.11443327367305756, 0.056455422192811966, 0.057847749441862106, 0.05232063680887222, 0.04688120260834694, 0.2861011326313019, 0.12502846121788025, 0.18685148656368256], "count": [2365]}, "subtask_index": {"min": [50], "max": [1726], "mean": [1662.3890063424947], "std": [249.12432016599053], "count": [2365]}, "observation.tactile": {"min": [-0.008519584313035011, -3.6795143387280405e-05, -8.036878716666251e-05, -0.0013917670585215092, -8.24328453745693e-05, -0.00019521053764037788, -0.00882035680115223, -4.772170359501615e-05, -0.00010634699719958007, -0.0005087573081254959, -2.460528958181385e-05, -0.0001882813812699169, -0.01251511462032795, -4.773449109052308e-05, -0.00010556099732639268, -0.0011784057132899761, -5.124310700921342e-05, -0.0002515618980396539, -0.010724077001214027, -3.4481214242987335e-05, -7.552914757980034e-05, -0.0009118412854149938, -8.698365127202123e-05, -0.0002265421935589984, -0.005988400429487228, -4.596029612002894e-05, -0.00010250752529827878, -0.0005187505739741027, -7.075475878082216e-05, -9.62842459557578e-05, -3.5619757175445557, -3.65189989679493e-05, -8.441106911050156e-05, -0.20107902586460114, -0.010652884840965271, -0.06181713938713074, -6.40529727935791, -0.17813988029956818, -0.00010142173414351419, -0.2516133487224579, -0.032242778688669205, -0.121645487844944, -0.8000116944313049, -4.860201079281978e-05, -0.0001079396897694096, -0.002128764521330595, -0.0002500007103662938, -0.009103230200707912, -0.014658326283097267, -5.741044878959656e-05, -0.00012921115558128804, -0.001825873856432736, -7.967966666910797e-05, -0.00033544443431310356, -0.49211275577545166, -4.413957503857091e-05, -9.805295121623203e-05, -0.0017700649332255125, -0.0003300998650956899, -0.006809881888329983], "max": [0.002841058885678649, 0.023392992094159126, 0.06779924035072327, 1.5338885077653686e-06, 0.00014785501116421074, 1.1886286301887594e-05, 0.002228902420029044, 0.009111138060688972, 0.026622354984283447, 1.8195089523942443e-06, 7.672941137570888e-05, 1.2808724932256155e-05, 0.01670437678694725, 0.020849332213401794, 0.06243455410003662, 1.967240677913651e-06, 0.0002927905006799847, 0.00021156953880563378, 0.009192274883389473, 0.016719160601496696, 0.047451749444007874, 1.4219133390724892e-06, 0.00025547106633894145, 0.00010809808736667037, 0.0012433703523129225, 0.012285076081752777, 0.03433682769536972, 1.9377825992705766e-06, 0.00016907023382373154, 7.451608780684182e-06, 5.756744384765625, 7.661252498626709, 13.69416332244873, 1.5501417465202394e-06, 0.037681568413972855, 0.09730255603790283, 0.5701496005058289, 10.906044960021973, 14.313390731811523, 1.911341314553283e-06, 0.02460523694753647, 0.02502608858048916, 0.021830381825566292, 0.12014079838991165, 0.15657222270965576, 1.98684415408934e-06, 0.001205907785333693, 0.000307856680592522, 0.004181291442364454, 0.02963019162416458, 0.0841735452413559, 2.3429561224475037e-06, 0.00015149010869208723, 2.911903357016854e-05, 0.0017344302032142878, 0.06330826878547668, 0.08983246237039566, 1.828569793360657e-06, 8.746377716306597e-05, 1.2376286576909479e-05], "mean": [-0.0007507047848775983, 0.0022381360176950693, 0.006576321087777615, -0.00011345196253387257, -2.07339326152578e-06, -1.1740939953597263e-05, 0.00023089919704943895, 7.29148305254057e-05, 0.0002401489473413676, -4.377396635391051e-06, -9.637888069846667e-07, 4.353408257884439e-06, -0.00023189495550468564, 0.0009476456907577813, 0.0028357936535030603, -5.000398596166633e-05, -3.9631109416404797e-07, -3.211260263924487e-06, -0.00023018670617602766, 0.001148996059782803, 0.003362368093803525, -4.9134156142827123e-05, -7.03456578321493e-07, -9.3992940719545e-07, 9.718282672110945e-05, 0.0005340117495507002, 0.0015730567974969745, -2.0725876311189495e-05, -4.382851273021515e-07, 3.5269783893454587e-06, 1.1155242919921875, 1.7242497205734253, 3.6713085174560547, -0.061812859028577805, 0.005972410552203655, 0.01693100295960903, -1.5088995695114136, 0.8895498514175415, 4.076384544372559, -0.06718907505273819, -0.0011369155254215002, -0.024421721696853638, -0.002923263469710946, 0.0018287310376763344, 0.004807236138731241, -7.950121653266251e-05, 1.7062382539734244e-05, -3.626307443482801e-05, -0.0026154047809541225, 0.008213676512241364, 0.023948458954691887, -0.0005339645431376994, 2.9837099191354355e-06, -6.0734044382115826e-05, -0.002397052710875869, 0.007930449210107327, 0.022669976577162743, -0.000474646280054003, -3.7380484627647093e-06, -4.6037624997552484e-05], "std": [0.00116312550380826, 0.003056366927921772, 0.00881822220981121, 0.00017121623386628926, 2.7295263862470165e-05, 2.4286935513373464e-05, 0.00038480275543406606, 0.0006163467769511044, 0.001774514908902347, 3.191197174601257e-05, 3.7803440591233084e-06, 8.135408279486e-06, 0.0015545079950243235, 0.0024326227139681578, 0.007207970600575209, 0.00013099427451379597, 1.238273580383975e-05, 2.812784441630356e-05, 0.001225526095367968, 0.0020902559626847506, 0.006125470157712698, 9.832838259171695e-05, 2.281934575876221e-05, 1.6114003301481716e-05, 0.0005923952558077872, 0.0013956960756331682, 0.0040258318185806274, 5.68159666727297e-05, 1.4778615877730772e-05, 8.532542778993957e-06, 1.6987626552581787, 2.011383056640625, 3.9873359203338623, 0.06664329767227173, 0.009376425296068192, 0.027875127270817757, 1.8517374992370605, 1.249682068824768, 4.578788757324219, 0.07536373287439346, 0.00762932188808918, 0.030765052884817123, 0.0441615991294384, 0.006502705160528421, 0.010747702792286873, 0.00015721630188636482, 7.575408380944282e-05, 0.0005124236340634525, 0.0023784611839801073, 0.006117702461779118, 0.017728811129927635, 0.00041620651609264314, 2.2385605916497298e-05, 5.20039138791617e-05, 0.011454937979578972, 0.005223904736340046, 0.014465759508311749, 0.00030742192757315934, 1.9058017642237246e-05, 0.00016412661352660507], "count": [2365]}, "timestamp": {"min": [0.0], "max": [78.8], "mean": [39.4], "std": [22.75722107620153], "count": [2365]}, "frame_index": {"min": [0], "max": [2364], "mean": [1182.0], "std": [682.7166322860459], "count": [2365]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [2365]}, "index": {"min": [74528], "max": [76892], "mean": [75710.0], "std": [682.7166322860459], "count": [2365]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2365]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5597327351570129]], [[0.5600740909576416]], [[0.5606212615966797]]], "std": [[[0.2912027835845947]], [[0.2905503213405609]], [[0.2914542257785797]]], "count": [2365]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30504271388053894]], [[0.3076913058757782]], [[0.3051644265651703]]], "std": [[[0.1834554523229599]], [[0.18358343839645386]], [[0.18324725329875946]]], "count": [2365]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3086133897304535]], [[0.31177380681037903]], [[0.30825844407081604]]], "std": [[[0.1840066760778427]], [[0.1829611212015152]], [[0.18154607713222504]]], "count": [2365]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5599198341369629]], [[0.5599721074104309]], [[0.5600811243057251]]], "std": [[[0.2966703474521637]], [[0.2963601350784302]], [[0.29747334122657776]]], "count": [2365]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6666666865348816]], [[0.6666666865348816]], [[0.6666666865348816]]], "mean": [[[0.002748243510723114]], [[0.002748243510723114]], [[0.002748243510723114]]], "std": [[[0.03273533657193184]], [[0.03273533657193184]], [[0.03273533657193184]]], "count": [2365]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49010151624679565]], [[0.49010151624679565]], [[0.49010151624679565]]], "std": [[[0.22104331851005554]], [[0.22104331851005554]], [[0.22104331851005554]]], "count": [2365]}}}
+{"episode_index": 33, "stats": {"observation.state": {"min": [1.0460429191589355, -0.7792499661445618, -0.22444488108158112, 1.0430574417114258, -0.06805386394262314, -0.7670487761497498, 0.1576792150735855, 0.008485857397317886, -0.00032648356864228845, -0.26216939091682434, 0.00012690055882558227, 0.0035069813020527363, 0.0036740705836564302, -0.054212234914302826, 0.0034913807176053524, 0.000815454637631774, -0.003267584601417184, -0.08812470734119415, 0.0031141256913542747, 0.0008345218957401812, -0.0033566339407116175, -0.02694801054894924, 0.0027936010155826807, 0.0008575798710808158, 0.005662143230438232, -0.0027992797549813986, -0.025994963943958282, 0.0056098937056958675, 0.0016167198773473501, 0.928859293460846, -1.0431406497955322, -0.2427588254213333, 1.1209522485733032, -1.7540885210037231, -0.7696372270584106, -0.4347915053367615, 0.005438558757305145, -0.1969870924949646, -0.18268701434135437, -0.20640796422958374, 0.0032506324350833893, 0.007033157628029585, -0.15546908974647522, 0.003569029737263918, 0.0008531456696800888, -0.0034348852932453156, -0.12169840931892395, 0.00457988865673542, 0.0008686654036864638, -0.0018118908628821373, -0.15156958997249603, 0.003567611565813422, 0.0008367390255443752, 0.014586708508431911, -0.001740012550726533, -0.17124447226524353, 0.0032243947498500347, 0.0008841852541081607, 0.5625874400138855, -1.1069588661193848, 0.5439879298210144, -0.0005752427969127893, -9.58738019107841e-05, 0.0, -0.747623860836029], "max": [1.285531759262085, -0.5848515629768372, -0.002389774424955249, 1.5678030252456665, 0.1490178406238556, 0.19084975123405457, 0.6981528997421265, 1.3691987991333008, 0.2927078306674957, -0.00363958440721035, 0.255349725484848, 0.5458803772926331, 0.2429981827735901, 0.08722440153360367, 0.018810980021953583, 0.022262046113610268, 0.13483694195747375, 0.17485038936138153, 0.026317428797483444, 0.017755094915628433, 0.0031390348449349403, 0.18963277339935303, 0.002850685501471162, 0.0017360005294904113, 0.24904759228229523, 0.003633589716628194, 0.2387581765651703, 0.005654213950037956, 0.001709838630631566, 1.4298796653747559, -0.32858800888061523, -0.002167946193367243, 1.7579759359359741, 0.19629141688346863, -0.13415645062923431, 0.6981669068336487, 1.369096279144287, 0.21125569939613342, 0.4065263867378235, 0.29546791315078735, 0.33413898944854736, 1.1441140174865723, 0.07834744453430176, 0.573419988155365, 0.48864179849624634, 1.3346275091171265, 0.15630830824375153, 1.3078306913375854, 0.5948766469955444, 1.4527803659439087, 0.16936345398426056, 1.5036040544509888, 1.200713038444519, 0.24199935793876648, 1.4345357418060303, 0.1866799145936966, 1.4759985208511353, 1.3081843852996826, 0.5627791881561279, -1.1066712141036987, 0.5442755818367004, 0.0005752427969127893, 0.0001917476038215682, 0.09788715094327927, -0.5820498466491699], "mean": [1.1733276844024658, -0.6442767977714539, -0.22180595993995667, 1.1641281843185425, 0.0955229252576828, 0.029009610414505005, 0.3301308751106262, 1.3104182481765747, 0.27821478247642517, -0.19603820145130157, 0.20266057550907135, 0.5286527872085571, 0.1917937695980072, 0.07361253350973129, 0.016608599573373795, 0.017343033105134964, 0.03762158006429672, 0.12489832192659378, 0.006258571054786444, 0.0051316386088728905, 2.0080200556549244e-05, 0.13345377147197723, 0.0028212370816618204, 0.001533375820145011, 0.24541513621807098, 0.0002600037551019341, 0.1919870674610138, 0.005629851017147303, 0.0016612067120149732, 1.2352628707885742, -0.6283122301101685, -0.2249106615781784, 1.3552727699279785, -1.3347195386886597, -0.37173378467559814, -0.09398234635591507, 1.237314224243164, -0.034702468663454056, 0.12537309527397156, 0.027914656326174736, 0.12221485376358032, 0.8781275749206543, 0.03996232897043228, 0.17316775023937225, 0.19388900697231293, 1.2102822065353394, -0.07164746522903442, 1.1179732084274292, 0.31467288732528687, 1.313154697418213, -0.11833585798740387, 1.2818260192871094, 0.7845619320869446, 0.029724206775426865, 1.2707340717315674, -0.13659054040908813, 1.0461524724960327, 1.2351140975952148, 0.5626858472824097, -1.1068446636199951, 0.5441215634346008, -0.0001013453584164381, 8.031313996070821e-07, 0.07269446551799774, -0.7075170874595642], "std": [0.06352250277996063, 0.03365269675850868, 0.020144831389188766, 0.08574642241001129, 0.040006838738918304, 0.15584823489189148, 0.12030618637800217, 0.12379258126020432, 0.03188513591885567, 0.026909908279776573, 0.029742740094661713, 0.06289423257112503, 0.028040412813425064, 0.022122841328382492, 0.0024661007337272167, 0.002571620512753725, 0.028880910947918892, 0.039328496903181076, 0.007004444021731615, 0.00438419496640563, 0.0014637355925515294, 0.04362894594669342, 7.838277269911487e-06, 0.00023635719844605774, 0.025321872904896736, 0.001938774948939681, 0.05502626672387123, 6.634970759478165e-06, 1.3715979548578616e-05, 0.12247142195701599, 0.1669418215751648, 0.02353212609887123, 0.14942693710327148, 0.3364555239677429, 0.1346929520368576, 0.19967269897460938, 0.163766011595726, 0.07580873370170593, 0.14656062424182892, 0.08837421983480453, 0.08670243620872498, 0.22197121381759644, 0.0326773039996624, 0.13777945935726166, 0.1189117282629013, 0.26194044947624207, 0.026551153510808945, 0.27212604880332947, 0.09729082882404327, 0.29192328453063965, 0.045432932674884796, 0.31383299827575684, 0.29058271646499634, 0.02954062819480896, 0.28235918283462524, 0.05151127278804779, 0.312544047832489, 0.291481077671051, 3.5368528187973425e-05, 4.00910503230989e-05, 6.30141730653122e-05, 0.0003851392539218068, 1.0257851499773096e-05, 0.01858404278755188, 0.027490731328725815], "count": [1910]}, "observation.state.joint_torque": {"min": [-32.23649978637695, -4.120500087738037, -16.753000259399414, -6.361000061035156, -0.47119998931884766, -0.9783999919891357, 1.2136000394821167, -0.6826107501983643, -0.33748477697372437, -0.27587708830833435, -0.2733916938304901, -0.09629485011100769, -0.3175826668739319, -0.6965710520744324, -0.08633331209421158, -0.04209667816758156, -0.22643354535102844, -0.4691779911518097, -0.11621791869401932, -0.033534638583660126, -0.21204158663749695, -0.5516919493675232, -0.0016602561809122562, -0.032821137458086014, -0.10555225610733032, -0.15351428091526031, -0.4116101562976837, -0.0, -0.0, 13.38599967956543, -8.410499572753906, 7.181000232696533, -7.835999965667725, -2.4072000980377197, -0.8759999871253967, -3.2016000747680664, -1.5817211866378784, -0.7768518328666687, -0.8301166296005249, -0.6673243641853333, -0.18262816965579987, -1.082275629043579, -0.9911265969276428, -0.21417304873466492, -0.06564227491617203, -1.4593451023101807, -1.0899513959884644, -0.5827499032020569, -0.06207476183772087, -1.5572104454040527, -0.3271773159503937, -0.6358780860900879, -0.07563132047653198, -0.14469456672668457, -1.3192633390426636, -0.48165106773376465, -0.27726277709007263, -0.13199804723262787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-24.00149917602539, 11.422499656677246, -11.045000076293945, 2.3889999389648438, 1.3583999872207642, 1.0504000186920166, 2.416800022125244, 0.31074070930480957, 0.26234668493270874, 0.393932580947876, 0.4113302528858185, 0.09961536526679993, 0.3386908769607544, 0.2916771173477173, 0.05644870921969414, 0.015697065740823746, 0.3175826668739319, 0.4125696122646332, 0.1145576685667038, 0.013556556776165962, 0.28496089577674866, 0.3972181975841522, 0.0016602561809122562, -0.0, 0.05497513338923454, 0.1611899882555008, 0.2983933687210083, 0.0016602561809122562, 0.0007135029300116003, 36.207000732421875, 11.11050033569336, 19.86400032043457, 2.513000011444092, 0.2272000014781952, 3.25600004196167, 0.5127999782562256, 2.3891375064849854, 4.822848320007324, 2.6270458698272705, 1.9137420654296875, 0.7338331937789917, 2.149199962615967, 0.7176792621612549, 1.0575830936431885, 0.21476440131664276, 0.4586239457130432, 0.26193374395370483, 0.09629485011100769, 0.04851820319890976, 0.3175826668739319, 0.20436587929725647, 0.1062563955783844, 0.019978083670139313, 0.11698708683252335, 0.42312371730804443, 0.30606910586357117, 0.13448072969913483, 0.05708024278283119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.429811477661133, 1.753848910331726, -13.18042278289795, -1.6448992490768433, -0.07831496745347977, -0.38297581672668457, 1.6569552421569824, -0.0018122754991054535, -0.000816119834780693, 0.013964956626296043, -0.00029018850182183087, 0.0004250596684869379, 0.01531522162258625, 0.013397333212196827, 0.0006554097053594887, 0.00020022915850859135, 0.0006515272543765604, 0.012126856483519077, 0.0009978917660191655, 5.939622496953234e-05, 0.01956198737025261, 0.03287302330136299, 4.346220066508977e-06, -0.003927259705960751, -0.0006417418480850756, 0.005779896397143602, 0.023952508345246315, 8.692440474078467e-07, 3.7356173265834514e-07, 26.756336212158203, 1.102375864982605, 13.062984466552734, -2.319244146347046, -0.6969653964042664, 1.5478050708770752, -0.9881089329719543, 0.14931423962116241, 1.1924818754196167, 0.45830971002578735, 0.24443690478801727, 0.13348039984703064, 0.8992179036140442, -0.06147304177284241, 0.3895019292831421, 0.10138092935085297, -0.06617939472198486, -0.1255829632282257, -0.0011404469842091203, -0.0018924608593806624, -0.007658134680241346, -0.008133343420922756, -0.004270597361028194, -0.0031285749282687902, -0.004307514056563377, -0.017140759155154228, -0.0035826577804982662, -0.017770828679203987, 0.0005700576584786177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.8781483173370361, 0.9776838421821594, 0.7958328723907471, 0.6673230528831482, 0.2854451835155487, 0.3713136613368988, 0.1888006627559662, 0.04247337207198143, 0.02600577287375927, 0.05104904994368553, 0.05621843412518501, 0.01080283708870411, 0.058792594820261, 0.07981758564710617, 0.00622605811804533, 0.004276142455637455, 0.039909157902002335, 0.05854162201285362, 0.011383800767362118, 0.004006542731076479, 0.04484328255057335, 0.08906979858875275, 0.00011388381972210482, 0.006995865609496832, 0.008465413004159927, 0.025692163035273552, 0.07053359597921371, 3.797868703259155e-05, 1.6321111615980044e-05, 4.053487300872803, 2.2066540718078613, 1.3551374673843384, 1.5857179164886475, 0.28858494758605957, 0.6113632321357727, 0.4942421317100525, 0.542533814907074, 1.5406382083892822, 0.6719379425048828, 0.42846396565437317, 0.17852774262428284, 0.9900475144386292, 0.22273147106170654, 0.4426772892475128, 0.10493943840265274, 0.21304363012313843, 0.20004770159721375, 0.03062712959945202, 0.008421177975833416, 0.08424992859363556, 0.0545777752995491, 0.031353868544101715, 0.009892764501273632, 0.01809297688305378, 0.13544291257858276, 0.08854414522647858, 0.03521079570055008, 0.013549070805311203, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1910]}, "observation.state.tcp": {"min": [0.36220964789390564, 0.19069764018058777, 0.946441113948822, -1.353584885597229, 1.2192878723144531, -1.6711344718933105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.240418940782547, -0.2653656601905823, 0.9472585320472717, -0.6537858247756958, 1.2183582782745361, 0.34206071496009827, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4207228720188141, 0.23423129320144653, 1.0744580030441284, -0.967807412147522, 1.9765050411224365, -1.2301220893859863, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45126259326934814, -0.04057745262980461, 1.144115686416626, 1.2234585285186768, 1.9963120222091675, 1.5013209581375122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4084576964378357, 0.20272135734558105, 1.000821828842163, -1.2287993431091309, 1.731695532798767, -1.5698459148406982, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3864278793334961, -0.1442929208278656, 1.0451302528381348, -0.15450792014598846, 1.718868613243103, 0.6629770398139954, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.010581804439425468, 0.008479351177811623, 0.03500379994511604, 0.07876230031251907, 0.16552886366844177, 0.05369308218359947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.051513176411390305, 0.06127041205763817, 0.05211349204182625, 0.32015395164489746, 0.13205461204051971, 0.18521519005298615, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1910]}, "action": {"min": [1.0460253953933716, -0.7786791324615479, -0.2244405746459961, 1.0430519580841064, -0.06806957721710205, -0.7654592394828796, 0.15765944123268127, 0.0, 0.0, -0.26514679193496704, 0.0, 0.0, 0.0, -0.0597991980612278, 0.0, 0.0, 0.0, -0.09412597864866257, 0.0, 0.0, 0.0, -0.12136577814817429, 0.0, 0.0, 0.0, 0.0, -0.1256803572177887, 0.0, 0.0, 0.9288656115531921, -1.0435861349105835, -0.2427523285150528, 1.120944857597351, -1.7540788650512695, -0.7678893804550171, -0.43488967418670654, 0.0, -0.19745191931724548, -0.18586088716983795, -0.15176475048065186, 0.0, 0.0, -0.1637246310710907, 0.0, 0.0, 0.0, -0.16273260116577148, 0.0, 0.0, 0.0, -0.14934107661247253, 0.0, 0.0, 0.0, 0.0, -0.17126072943210602, 0.0, 0.0, 0.5625874400138855, -1.1068999767303467, 0.5440040230751038, -0.0006229594582691789, -6.238399510039017e-05, -3.5198313502448317e-19, -0.7475593686103821], "max": [1.2855820655822754, -0.5848454833030701, -0.001983607653528452, 1.5661543607711792, 0.14917005598545074, 0.1908501237630844, 0.8086002469062805, 1.3726714849472046, 0.2928231656551361, 0.0, 0.2598184645175934, 0.5535562038421631, 0.24575971066951752, 0.08837278932332993, 0.02562834322452545, 0.025721963495016098, 0.13702066242694855, 0.17901858687400818, 0.03209825977683067, 0.022263268008828163, 0.0, 0.19567051529884338, 0.0, 0.0, 0.26180002093315125, 0.0, 0.24789561331272125, 0.0, 0.0, 1.4298946857452393, -0.3285592198371887, -0.0026052868925035, 1.7588027715682983, 0.1965315341949463, -0.13408790528774261, 0.7544346451759338, 1.3906835317611694, 0.24501968920230865, 0.4110359847545624, 0.2949516773223877, 0.3369002938270569, 1.2302895784378052, 0.07872217893600464, 0.5851167440414429, 0.501359224319458, 1.4619619846343994, 0.1964888572692871, 1.3139764070510864, 0.6246159672737122, 1.4584182500839233, 0.21895025670528412, 1.5149112939834595, 1.2022156715393066, 0.26180002093315125, 1.439762830734253, 0.22809113562107086, 1.4820399284362793, 1.4906007051467896, 0.5626999735832214, -1.106863021850586, 0.5442671179771423, 0.0004270689969416708, 9.689526632428169e-05, 0.0988762378692627, -0.5820590853691101], "mean": [1.1734877824783325, -0.6443051695823669, -0.22184716165065765, 1.1642512083053589, 0.09551341086626053, 0.028849605470895767, 0.3316691219806671, 1.3132472038269043, 0.2815103530883789, -0.19501222670078278, 0.20258711278438568, 0.5332422852516174, 0.19544757902622223, 0.07570788264274597, 0.021766789257526398, 0.021869953721761703, 0.037169985473155975, 0.13280262053012848, 0.009686735458672047, 0.007974175736308098, 0.0, 0.13991031050682068, 0.0, 0.0, 0.25777438282966614, 0.0, 0.19835074245929718, 0.0, 0.0, 1.2365081310272217, -0.6288930177688599, -0.2249511182308197, 1.355825662612915, -1.3347558975219727, -0.37220215797424316, -0.0932864174246788, 1.237892985343933, -0.03193999081850052, 0.13079024851322174, 0.03325074538588524, 0.12220774590969086, 0.911237895488739, 0.03018002025783062, 0.17564883828163147, 0.2645427882671356, 1.2137097120285034, -0.0709281787276268, 1.1192601919174194, 0.3156941533088684, 1.3161723613739014, -0.1186220571398735, 1.2836087942123413, 0.7867506146430969, 0.02703646942973137, 1.2724559307098389, -0.13718266785144806, 1.047361969947815, 1.343782901763916, 0.5626851320266724, -1.1068434715270996, 0.5441590547561646, -0.00011387252015992999, 3.255997285123158e-07, 0.072760671377182, -0.7075573801994324], "std": [0.06355977803468704, 0.033702898770570755, 0.019975032657384872, 0.08595851808786392, 0.04002068191766739, 0.1559358388185501, 0.12479260563850403, 0.14654716849327087, 0.03642619401216507, 0.03132176771759987, 0.032852377742528915, 0.07001525908708572, 0.030622268095612526, 0.02145920693874359, 0.003092443337664008, 0.0031008347868919373, 0.028713522478938103, 0.039848580956459045, 0.006266286130994558, 0.004576350562274456, 0.0, 0.048254672437906265, 0.0, 0.0, 0.03201031684875488, 0.0, 0.06203291565179825, 0.0, 0.0, 0.12258043140172958, 0.16717718541622162, 0.023389099165797234, 0.14980845153331757, 0.3370702266693115, 0.1347116231918335, 0.20218923687934875, 0.17600956559181213, 0.07764375954866409, 0.150845006108284, 0.08277732133865356, 0.08784306049346924, 0.2457207888364792, 0.03161092847585678, 0.1397404819726944, 0.16059540212154388, 0.2558235824108124, 0.029903536662459373, 0.2683236002922058, 0.0979054644703865, 0.28498390316963196, 0.04534127190709114, 0.30926692485809326, 0.2896040081977844, 0.030973637476563454, 0.27537301182746887, 0.05131807550787926, 0.3094548285007477, 0.31477323174476624, 6.2020053519518115e-06, 2.0236966520315036e-05, 4.031832577311434e-05, 0.00042018675594590604, 1.3171167665859684e-05, 0.018640868365764618, 0.027542077004909515], "count": [1910]}, "observation.state.tcp_pose": {"min": [0.36220964789390564, 0.19069764018058777, 0.946441113948822, -1.353584885597229, 1.2192878723144531, -1.6711344718933105, 0.240418940782547, -0.2653656601905823, 0.9472585320472717, -0.6537858247756958, 1.2183582782745361, 0.34206071496009827], "max": [0.4207228720188141, 0.23423129320144653, 1.0744580030441284, -0.967807412147522, 1.9765050411224365, -1.2301220893859863, 0.45126259326934814, -0.04057745262980461, 1.144115686416626, 1.2234585285186768, 1.9963120222091675, 1.5013209581375122], "mean": [0.4084576964378357, 0.20272135734558105, 1.000821828842163, -1.2287993431091309, 1.731695532798767, -1.5698459148406982, 0.3864278793334961, -0.1442929208278656, 1.0451302528381348, -0.15450792014598846, 1.718868613243103, 0.6629770398139954], "std": [0.010581804439425468, 0.008479351177811623, 0.03500379994511604, 0.07876230031251907, 0.16552886366844177, 0.05369308218359947, 0.051513176411390305, 0.06127041205763817, 0.05211349204182625, 0.32015395164489746, 0.13205461204051971, 0.18521519005298615], "count": [1910]}, "action.tcp_pose": {"min": [0.36210206151008606, 0.1907004863023758, 0.9464384913444519, -1.3535997867584229, 1.2196487188339233, -1.6781648397445679, 0.24028457701206207, -0.26830244064331055, 0.9472494721412659, -0.65337073802948, 1.2194523811340332, 0.34194472432136536], "max": [0.4208246171474457, 0.23425845801830292, 1.0743796825408936, -0.9011936783790588, 1.9763656854629517, -1.2307499647140503, 0.45128390192985535, -0.04054287075996399, 1.144019365310669, 1.21370267868042, 1.9963030815124512, 1.5284712314605713], "mean": [0.40847691893577576, 0.20270894467830658, 1.000977635383606, -1.2277915477752686, 1.7302582263946533, -1.570722222328186, 0.3865850865840912, -0.14443476498126984, 1.0458101034164429, -0.1549168974161148, 1.7163543701171875, 0.6635146737098694], "std": [0.01059050764888525, 0.008483678102493286, 0.03497568145394325, 0.08170434832572937, 0.16787509620189667, 0.05234242230653763, 0.05146893113851547, 0.06135627254843712, 0.0524025484919548, 0.3194177448749542, 0.1351378709077835, 0.18705731630325317], "count": [1910]}, "subtask_index": {"min": [50], "max": [1775], "mean": [1632.5424083769633], "std": [423.772684339264], "count": [1910]}, "observation.tactile": {"min": [-0.006246627774089575, -3.683577961055562e-05, -8.142104343278334e-05, -0.0010125995613634586, -6.972539267735556e-05, -0.00011224332411075011, -0.006487339269369841, -4.678675759350881e-05, -0.00010758348798844963, -0.000869611045345664, -2.584062167443335e-05, -0.0001356696302536875, -0.009858670644462109, -4.5820605009794235e-05, -0.00010172591282753274, -0.0008330045966431499, -3.2908868888625875e-05, -0.000220762231037952, -0.010963483713567257, -3.652549639809877e-05, -7.85776210250333e-05, -0.0009465131442993879, -7.44166072763619e-06, -0.0002480403636582196, -0.0037163482047617435, -4.531986633082852e-05, -0.00010189875320065767, -0.0014197807759046555, -5.601553129963577e-05, -8.382293162867427e-05, -0.7858606576919556, -4.300589716876857e-05, -9.989580576075241e-05, -0.21640248596668243, -0.010478359647095203, -0.02239007130265236, -6.321025371551514, -0.2055814266204834, -9.738883818499744e-05, -0.25220245122909546, -0.03045639768242836, -0.10702797770500183, -0.013343896716833115, -5.162975503480993e-05, -0.00011574471864150837, -0.0012399812694638968, -6.440533616114408e-05, -0.00030372076435014606, -0.00643789442256093, -5.520950799109414e-05, -0.00012514581612776965, -0.002607169793918729, -6.92314060870558e-05, -0.00014587855548597872, -0.02617340348660946, -4.3885360355488956e-05, -9.775046783033758e-05, -0.001267366693355143, -6.327882874757051e-05, -0.0003263814141973853], "max": [0.004610724281519651, 0.01914808340370655, 0.05174870789051056, 1.5524877881034627e-06, 0.0002346934052184224, 5.8985897339880466e-05, 0.00034226401476189494, 0.014427359215915203, 0.04279270023107529, 1.827537857934658e-06, 4.6821300202282146e-05, 6.696803666272899e-06, 0.0015400039264932275, 0.013928468339145184, 0.03980943560600281, 1.901692940009525e-06, 0.00010025789379142225, 7.62671152187977e-06, 0.01850705035030842, 0.01781615801155567, 0.05269279703497887, 1.4631767726314138e-06, 0.00027560070157051086, 0.00026183927548117936, 0.018777769058942795, 0.020717162638902664, 0.0643344521522522, 1.9100127701676684e-06, 0.0003475160920061171, 0.00030271083232946694, 7.181724548339844, 8.015230178833008, 10.978264808654785, 1.8491626860850374e-06, 0.040228601545095444, 0.10366302728652954, 0.02302846871316433, 7.024736404418945, 14.446588516235352, 1.8809625998983392e-06, 0.017846545204520226, 0.0006489853840321302, 0.003644555574283004, 0.019383851438760757, 0.05850199609994888, 2.1282648958731443e-06, 0.00014528953761328012, 2.4718687200220302e-05, 0.11811793595552444, 0.05604277551174164, 0.17400014400482178, 2.2864410311740357e-06, 0.0009038203861564398, 0.0014947629533708096, 0.0004199468530714512, 0.019565904513001442, 0.055970847606658936, 1.8130025409845985e-06, 7.658581307623535e-05, 7.204621851997217e-06], "mean": [-0.00012246343248989433, 0.0012642641086131334, 0.003729618852958083, -6.36067270534113e-05, 6.70186227580416e-06, -3.2425289191451157e-06, -0.0004877172759734094, 0.0013649226166307926, 0.004083477426320314, -7.448746328009292e-05, 5.690783837053459e-06, -1.0919466149061918e-05, 8.550465281587094e-05, 0.0004421535413712263, 0.0013228675816208124, -2.3347798560280353e-05, -1.5899413483566605e-06, 2.374396899540443e-06, 0.0002446426951792091, 0.0005371199804358184, 0.0015861497959122062, -2.45053342950996e-05, 5.346176294551697e-06, 2.8288288831390673e-06, 0.0002482413256075233, 0.0015381778357550502, 0.004486477002501488, -8.320404594996944e-05, 1.680710556684062e-05, -1.6262480073692132e-07, 1.5261913537979126, 1.8700551986694336, 3.9059669971466064, -0.07245421409606934, 0.008974617347121239, 0.02427096478641033, -1.5317423343658447, 1.1344443559646606, 4.608232498168945, -0.07471528649330139, -0.0013717955444008112, -0.02527051791548729, -0.0002275431324960664, 0.0016313079977408051, 0.004896725527942181, -0.00010325259063392878, 7.89009118307149e-06, -7.9413439380005e-06, 0.00035068910801783204, 0.0013633326161652803, 0.004157713148742914, -6.136934098321944e-05, 1.2801946468243841e-05, 1.8609165408633999e-06, -0.000995288253761828, 0.0027473389636725187, 0.007993371225893497, -0.00017082774138543755, -5.708945082005812e-06, -1.960396366484929e-05], "std": [0.0007851773407310247, 0.0023872887250036, 0.006955388002097607, 0.00012693452299572527, 2.845538801921066e-05, 1.5964677004376426e-05, 0.0008978237747214735, 0.0018215993186458945, 0.005402248818427324, 0.00010196794028161094, 8.122507097141352e-06, 1.8850585547625087e-05, 0.0008308734395541251, 0.00145415507722646, 0.004253279883414507, 8.03958173491992e-05, 7.023064881650498e-06, 1.632618295843713e-05, 0.0009528495138511062, 0.001664455165155232, 0.004893291275948286, 8.20475906948559e-05, 2.091144233418163e-05, 1.5944435290293768e-05, 0.0010540274670347571, 0.0030852823983877897, 0.008951643481850624, 0.000173512045876123, 3.9545622712466866e-05, 2.0131017663516104e-05, 1.843535304069519, 2.118746519088745, 3.9434335231781006, 0.07494912296533585, 0.01149201113730669, 0.0298030786216259, 1.6972551345825195, 1.380981683731079, 4.799027442932129, 0.07875669747591019, 0.007079102098941803, 0.028738105669617653, 0.001275518094189465, 0.0028768754564225674, 0.008532972075045109, 0.00018303474644199014, 2.304236841155216e-05, 2.7877023967448622e-05, 0.0054746768437325954, 0.0033674854785203934, 0.010194617323577404, 0.0001603307609912008, 4.649397305911407e-05, 6.946656503714621e-05, 0.001856622751802206, 0.004007618874311447, 0.011591258458793163, 0.000253041711403057, 1.1695609828166198e-05, 3.660867514554411e-05], "count": [1910]}, "timestamp": {"min": [0.0], "max": [63.63333333333333], "mean": [31.816666666666663], "std": [18.378981050222684], "count": [1910]}, "frame_index": {"min": [0], "max": [1909], "mean": [954.5], "std": [551.3694315066805], "count": [1910]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1910]}, "index": {"min": [76893], "max": [78802], "mean": [77847.5], "std": [551.3694315066805], "count": [1910]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1910]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5656909942626953]], [[0.5661662220954895]], [[0.5665093064308167]]], "std": [[[0.2965991795063019]], [[0.29588577151298523]], [[0.29657188057899475]]], "count": [1910]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3045094311237335]], [[0.3071000576019287]], [[0.3045143485069275]]], "std": [[[0.1827530413866043]], [[0.18286632001399994]], [[0.18255317211151123]]], "count": [1910]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3081991970539093]], [[0.31084156036376953]], [[0.307772159576416]]], "std": [[[0.18329741060733795]], [[0.18215173482894897]], [[0.18110448122024536]]], "count": [1910]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5669829845428467]], [[0.5671844482421875]], [[0.567138135433197]]], "std": [[[0.30193594098091125]], [[0.30153006315231323]], [[0.30245158076286316]]], "count": [1910]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6078431606292725]], [[0.6078431606292725]], [[0.6078431606292725]]], "mean": [[[0.0032799197360873222]], [[0.0032799197360873222]], [[0.0032799197360873222]]], "std": [[[0.03557703271508217]], [[0.03557703271508217]], [[0.03557703271508217]]], "count": [1910]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4897003769874573]], [[0.4897003769874573]], [[0.4897003769874573]]], "std": [[[0.22103643417358398]], [[0.22103643417358398]], [[0.22103643417358398]]], "count": [1910]}}}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24faa67f934817cade611a9d6b589484e4e74c95
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 34,
+    "total_frames": 78803,
+    "total_tasks": 1,
+    "total_videos": 204,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:34"
+    },
+    "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_27_19_29_06_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_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_27_19_29_06_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_27_19_29_06_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccc8afff4ee3261cd0dde7d138cefc82240f1dc8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1776 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}
+{"subtask_index": 50, "subtask": "Task: TicTacToe"}
+{"subtask_index": 51, "subtask": "Left hand: other:finger_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}
+{"subtask_index": 52, "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 in front of the wooden pegboard."}
+{"subtask_index": 53, "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 green hexagonal block and adjusts its grip to stabilize the block."}
+{"subtask_index": 54, "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 without moving."}
+{"subtask_index": 55, "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": 56, "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 above the leftmost purple peg of the wooden base."}
+{"subtask_index": 57, "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, lowering it to fit fully onto the peg."}
+{"subtask_index": 58, "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 to separate from the block."}
+{"subtask_index": 59, "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 leftmost green block on the peg without moving."}
+{"subtask_index": 60, "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 onto the left-front peg of the wooden pegboard and releases the ring."}
+{"subtask_index": 61, "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 ring on the black table."}
+{"subtask_index": 62, "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 ring on the black table with slight finger adjustments."}
+{"subtask_index": 63, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}
+{"subtask_index": 64, "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 leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}
+{"subtask_index": 65, "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 by opening its fingers, separating from the nut."}
+{"subtask_index": 66, "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 away from the assembled white hexagonal nut."}
+{"subtask_index": 67, "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": 68, "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": 69, "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 leftmost purple peg on the wooden rack."}
+{"subtask_index": 70, "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 leftmost purple peg and fits it down onto the peg."}
+{"subtask_index": 71, "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": 72, "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 upper area of the peg board to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 73, "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 while the block stays on the table."}
+{"subtask_index": 74, "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 surface and transports it upward to the position above the target purple peg."}
+{"subtask_index": 75, "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}
+{"subtask_index": 77, "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": 78, "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": 79, "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 surface without moving."}
+{"subtask_index": 80, "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 upward toward the purple peg on the wooden base."}
+{"subtask_index": 81, "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 by aligning and lowering it onto the peg."}
+{"subtask_index": 82, "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 purple peg without moving."}
+{"subtask_index": 83, "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 cylindrical ring onto the purple vertical rod on the wooden base."}
+{"subtask_index": 84, "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}
+{"subtask_index": 85, "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 around it."}
+{"subtask_index": 86, "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 from the table and transports it to the upper area of the purple rod on the wooden rack."}
+{"subtask_index": 87, "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 purple rod on the wooden rack and lowers it to fit onto the rod."}
+{"subtask_index": 88, "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 top of the rightmost cylinder stack on the wooden base."}
+{"subtask_index": 89, "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 toward the upper white hexagonal piece on the black table surface."}
+{"subtask_index": 90, "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 piece on the black table surface with fingers closing around it."}
+{"subtask_index": 91, "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 black table surface and transports it upward and leftward toward the purple peg on the wooden base."}
+{"subtask_index": 92, "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 purple peg on the wooden base, aligning and lowering it down the peg."}
+{"subtask_index": 93, "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 from its grip, leaving it on the purple peg."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}
+{"subtask_index": 95, "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 wooden block base area toward the white hexagonal block on the table."}
+{"subtask_index": 96, "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 to establish a grasp."}
+{"subtask_index": 97, "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 to the position above the purple rod on the wooden rack."}
+{"subtask_index": 98, "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 block onto the purple rod of the wooden rack and releases its grip."}
+{"subtask_index": 99, "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 rack without moving."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}
+{"subtask_index": 101, "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 green cubic block on the black table surface."}
+{"subtask_index": 102, "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 closing around the block to form a stable grip."}
+{"subtask_index": 103, "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}
+{"subtask_index": 104, "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 with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}
+{"subtask_index": 106, "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 block on the tabletop, no contact with the block yet."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}
+{"subtask_index": 108, "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, making it completely leave the black tabletop."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 110, "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 block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}
+{"subtask_index": 111, "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, fingers opening to separate from the block completely."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 113, "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 tabletop with fingers closing."}
+{"subtask_index": 114, "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 tabletop and transports it towards the leftmost purple rod on the wooden base."}
+{"subtask_index": 115, "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 leftmost purple rod on the wooden base by aligning and inserting it downwards."}
+{"subtask_index": 116, "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 with fingers opening."}
+{"subtask_index": 117, "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 leftmost purple rod with fingers closing."}
+{"subtask_index": 118, "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 leftmost purple rod and transports it towards the adjacent purple rod."}
+{"subtask_index": 119, "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 adjacent purple rod by aligning and inserting it downwards."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 123, "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 to the position above the leftmost purple rod on the wooden rack."}
+{"subtask_index": 124, "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 leftmost purple rod of the wooden rack."}
+{"subtask_index": 125, "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 secure it in position."}
+{"subtask_index": 126, "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}
+{"subtask_index": 127, "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 below the wooden base, moving downward."}
+{"subtask_index": 128, "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": 129, "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 target peg on the wooden base."}
+{"subtask_index": 130, "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 onto the target peg of the wooden base."}
+{"subtask_index": 131, "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 peg to fit it in position."}
+{"subtask_index": 132, "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 peg of the wooden base without moving."}
+{"subtask_index": 133, "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 peg of the wooden base."}
+{"subtask_index": 134, "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 green block on the table surface."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green block on the table surface."}
+{"subtask_index": 136, "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 purple peg on the wooden rack."}
+{"subtask_index": 137, "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 purple peg and inserts it onto the peg."}
+{"subtask_index": 138, "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 purple peg to the bottom position."}
+{"subtask_index": 139, "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 black table surface."}
+{"subtask_index": 140, "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."}
+{"subtask_index": 141, "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 tabletop and transports it towards the wooden base with pegs."}
+{"subtask_index": 142, "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 target peg on the wooden base."}
+{"subtask_index": 143, "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 purple post of the wooden base."}
+{"subtask_index": 144, "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 from its grip."}
+{"subtask_index": 145, "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 tabletop."}
+{"subtask_index": 146, "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 wooden peg base."}
+{"subtask_index": 147, "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 bottle with purple rod placed on the wooden base."}
+{"subtask_index": 148, "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 surface."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts and closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 150, "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": 151, "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, pressing it down onto the rod to complete assembly."}
+{"subtask_index": 152, "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 to separate from the block."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}
+{"subtask_index": 154, "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 bottle on the right column of the wooden rack."}
+{"subtask_index": 155, "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 placed on the table."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}
+{"subtask_index": 157, "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 ring stationary on the right side of the table surface."}
+{"subtask_index": 158, "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}
+{"subtask_index": 159, "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}
+{"subtask_index": 189, "subtask": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}
+{"subtask_index": 195, "subtask": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}
+{"subtask_index": 196, "subtask": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}
+{"subtask_index": 197, "subtask": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}
+{"subtask_index": 198, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}
+{"subtask_index": 199, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 200, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}
+{"subtask_index": 201, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}
+{"subtask_index": 202, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}
+{"subtask_index": 203, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 204, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 205, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}
+{"subtask_index": 206, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}
+{"subtask_index": 207, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}
+{"subtask_index": 208, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}
+{"subtask_index": 209, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}
+{"subtask_index": 210, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}
+{"subtask_index": 211, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}
+{"subtask_index": 212, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}
+{"subtask_index": 213, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}
+{"subtask_index": 214, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}
+{"subtask_index": 215, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}
+{"subtask_index": 216, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}
+{"subtask_index": 217, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}
+{"subtask_index": 218, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}
+{"subtask_index": 219, "subtask": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}
+{"subtask_index": 220, "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 hexagonal block on the table below the left side of the wooden pegboard."}
+{"subtask_index": 221, "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 adjusting to form a stable grip."}
+{"subtask_index": 222, "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 without moving."}
+{"subtask_index": 223, "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 piece on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 224, "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 piece from the table and transports it upward and backward to the position above the pegboard."}
+{"subtask_index": 225, "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 piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}
+{"subtask_index": 226, "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 piece fitted on the peg of the pegboard without moving."}
+{"subtask_index": 227, "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 block onto the leftmost green peg of the wooden base and releases the block."}
+{"subtask_index": 228, "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 topmost white hexagonal block on the table."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the topmost white hexagonal block on the table without moving."}
+{"subtask_index": 231, "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, with fingers adjusting to form a stable grip."}
+{"subtask_index": 232, "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 toward the pegboard with purple pegs."}
+{"subtask_index": 233, "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 leftmost purple peg of the pegboard by aligning and lowering it."}
+{"subtask_index": 234, "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 leftmost purple peg of the pegboard without moving."}
+{"subtask_index": 235, "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 peg of the pegboard and releases its grip on the ring."}
+{"subtask_index": 236, "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 workbench."}
+{"subtask_index": 237, "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 workbench with fingers adjusting to form a stable grip."}
+{"subtask_index": 238, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}
+{"subtask_index": 239, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}
+{"subtask_index": 240, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}
+{"subtask_index": 241, "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 block onto the front purple post of the wooden base and releases the block."}
+{"subtask_index": 242, "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 below the wooden base."}
+{"subtask_index": 243, "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": 244, "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 toward the purple rod on the wooden base."}
+{"subtask_index": 245, "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 sliding it down along the rod."}
+{"subtask_index": 246, "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, with fingers opening to separate from the block."}
+{"subtask_index": 247, "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 ring onto the right purple peg on the wooden rack and releases it."}
+{"subtask_index": 248, "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": 249, "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 upward to the top of the middle purple peg on the wooden rack."}
+{"subtask_index": 250, "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 hexagonal block with the middle purple peg and inserts the block onto the peg."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}
+{"subtask_index": 252, "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 middle purple peg without moving."}
+{"subtask_index": 253, "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 green square block onto the wooden board along the purple peg and releases the block."}
+{"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 reaches downward toward the white hexagonal block on the black table surface."}
+{"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 grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}
+{"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 the white hexagonal block off the table and transports it toward the rightmost purple peg on the wooden board."}
+{"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 mates the white hexagonal block onto the rightmost purple peg of the wooden board, lowering it until it rests on the green base."}
+{"subtask_index": 258, "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 peg without moving."}
+{"subtask_index": 259, "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 rightmost purple peg, fingers opening to separate from the block."}
+{"subtask_index": 260, "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 upper white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 261, "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 secure a stable grip."}
+{"subtask_index": 262, "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 leftward and upward to the area above the purple rod on the rightmost column."}
+{"subtask_index": 263, "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, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}
+{"subtask_index": 264, "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 by opening its fingers, then retreats slightly upward away from the block."}
+{"subtask_index": 265, "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 piece onto the rightmost purple peg and releases it by opening fingers."}
+{"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 to approach the white hexagonal piece on the black table surface."}
+{"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 white hexagonal piece on the table with fingers closing and adjusting grip."}
+{"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 piece from the table and transports it upward toward the wooden peg board."}
+{"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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}
+{"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 hexagonal piece on the purple peg by opening its fingers."}
+{"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 down and left toward the green square block on the table, empty-handed."}
+{"subtask_index": 272, "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, fingers close around the block."}
+{"subtask_index": 273, "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 square block on the table without moving."}
+{"subtask_index": 274, "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 right table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 275, "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 bottle array on the wooden base."}
+{"subtask_index": 276, "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 green square block onto the rightmost bottle of the array and releases the block."}
+{"subtask_index": 277, "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 green hexagonal block placed on the table in front of 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: grasp: Right hand closes its fingers around the green hexagonal block to establish a stable grip."}
+{"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 green hexagonal block without any observable movement."}
+{"subtask_index": 280, "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 table in front of the purple pillar assembly."}
+{"subtask_index": 281, "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 up from the table surface."}
+{"subtask_index": 282, "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 pillar."}
+{"subtask_index": 283, "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 purple pillar by lowering it down."}
+{"subtask_index": 284, "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": 285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 286, "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 tabletop without moving."}
+{"subtask_index": 287, "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 tabletop, adjusting fingers to form a stable grip."}
+{"subtask_index": 288, "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 tabletop and transports it to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 289, "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 down onto the peg to complete assembly."}
+{"subtask_index": 290, "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 peg and moves slightly away."}
+{"subtask_index": 291, "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 above the wooden base to approach the white hexagonal block on the black table."}
+{"subtask_index": 292, "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, with slight adjustments to form a stable grip."}
+{"subtask_index": 293, "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 to the position above the target purple peg on the wooden base."}
+{"subtask_index": 294, "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 the assembly."}
+{"subtask_index": 295, "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 onto the purple peg 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: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 297, "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 table."}
+{"subtask_index": 298, "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 away from the black table."}
+{"subtask_index": 299, "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 upward to the position above the target purple peg."}
+{"subtask_index": 300, "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."}
+{"subtask_index": 301, "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 from its grasp."}
+{"subtask_index": 302, "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 sleeve onto the purple rod of the wooden base."}
+{"subtask_index": 303, "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 table."}
+{"subtask_index": 304, "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, fingers adjust to form a stable grip."}
+{"subtask_index": 305, "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 purple peg on the wooden base."}
+{"subtask_index": 306, "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 purple peg and inserts the block down onto the peg."}
+{"subtask_index": 307, "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 green block to the bottom of the purple peg and releases its grip on the block."}
+{"subtask_index": 308, "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": 309, "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": 310, "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 toward the purple rod on the wooden base."}
+{"subtask_index": 311, "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": 312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}
+{"subtask_index": 313, "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 slightly off the purple rod."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}
+{"subtask_index": 315, "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 back onto the purple rod and presses it into position."}
+{"subtask_index": 316, "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 wooden base and moves away from the base."}
+{"subtask_index": 317, "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 in front of the wooden base."}
+{"subtask_index": 318, "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 table."}
+{"subtask_index": 319, "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 tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}
+{"subtask_index": 321, "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 and retreats away from the wooden base."}
+{"subtask_index": 322, "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 top of the building block set towards the white hexagonal block on the table."}
+{"subtask_index": 323, "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": 324, "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 position above the purple rod on the wooden base."}
+{"subtask_index": 325, "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 until it is placed stably."}
+{"subtask_index": 326, "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."}
+{"subtask_index": 327, "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 purple post on the wooden base and moves towards the green block on the table surface."}
+{"subtask_index": 328, "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 table surface with fingers closing around the block."}
+{"subtask_index": 329, "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 until it is completely off the table surface."}
+{"subtask_index": 330, "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 above the target white post on the wooden base."}
+{"subtask_index": 331, "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 target white post and inserts it down onto the post until it is seated."}
+{"subtask_index": 332, "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 which is now fixed on the white post."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 367, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 373, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}
+{"subtask_index": 382, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}
+{"subtask_index": 383, "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 piece on the black table surface."}
+{"subtask_index": 384, "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 piece in front of the wooden base with fingers closing around it."}
+{"subtask_index": 385, "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 moves it to above the leftmost peg of the wooden base."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the green hexagonal block onto the leftmost peg of the wooden base."}
+{"subtask_index": 387, "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 base without moving."}
+{"subtask_index": 388, "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 column onto the purple rod on the wooden board and releases its grip."}
+{"subtask_index": 389, "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 column on the black table surface."}
+{"subtask_index": 390, "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 column on the black table surface with fingers closing and adjusting."}
+{"subtask_index": 391, "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 toward the peg board with purple rods."}
+{"subtask_index": 392, "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 left-front purple rod on the peg board, lowering it onto the rod."}
+{"subtask_index": 393, "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 left-front purple rod to seat it fully."}
+{"subtask_index": 394, "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 left-front purple rod without moving."}
+{"subtask_index": 395, "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 above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}
+{"subtask_index": 396, "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 form a stable grip."}
+{"subtask_index": 397, "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 fully leaves the black table surface."}
+{"subtask_index": 398, "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 area above the leftmost purple peg."}
+{"subtask_index": 399, "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 leftmost purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 400, "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 to separate from the block."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}
+{"subtask_index": 402, "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 top of the leftmost purple peg of the wooden base."}
+{"subtask_index": 403, "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 in front of the wooden base."}
+{"subtask_index": 404, "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 to above the middle purple rod on the wooden base."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}
+{"subtask_index": 406, "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 assembly area toward the green hexagonal block on the black table."}
+{"subtask_index": 407, "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 upward until it is completely off the table surface."}
+{"subtask_index": 408, "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 upward and forward to the position above the middle peg of the wooden base."}
+{"subtask_index": 409, "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 middle peg and lowers it to fit onto the peg for assembly."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the components on the right side of the wooden base, with fingers opening and lifting away from the objects."}
+{"subtask_index": 411, "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 object to form a stable grip."}
+{"subtask_index": 412, "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 surface and transports it upward toward the wooden base."}
+{"subtask_index": 413, "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 peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}
+{"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 white hexagonal block on the purple peg without moving."}
+{"subtask_index": 415, "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 peg, with fingers opening to separate from the object."}
+{"subtask_index": 416, "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": 417, "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 adjusting to fit the block shape."}
+{"subtask_index": 418, "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 to above the purple rod on the wooden board."}
+{"subtask_index": 419, "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 block."}
+{"subtask_index": 420, "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 peg on the wooden base and releases the block."}
+{"subtask_index": 421, "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 resting on the black table surface."}
+{"subtask_index": 422, "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 table surface."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}
+{"subtask_index": 424, "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 black table, fingers closing to form a stable grip."}
+{"subtask_index": 425, "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 to the position above the purple rod on the wooden rack."}
+{"subtask_index": 426, "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 on the wooden rack and fits it onto the rod."}
+{"subtask_index": 427, "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 rod without moving."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}
+{"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 toward the green square block on the table surface."}
+{"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 green square block on the table surface."}
+{"subtask_index": 431, "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}
+{"subtask_index": 432, "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 hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}
+{"subtask_index": 433, "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 hollow block, with fingers opening and separating from the block."}
+{"subtask_index": 434, "subtask": "Left hand: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}
+{"subtask_index": 437, "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 to the position above the leftmost front purple peg of the wooden base."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}
+{"subtask_index": 439, "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 hexagonal block onto the purple rod of the wooden base and then releases it."}
+{"subtask_index": 440, "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 tabletop."}
+{"subtask_index": 441, "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 tabletop with fingers closing."}
+{"subtask_index": 442, "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 from the tabletop and transports it toward the wooden base."}
+{"subtask_index": 443, "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 target purple rod on the wooden base and inserts it into position."}
+{"subtask_index": 444, "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 after it is properly placed on the purple rod."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 446, "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 surface, fingers close and adjust to establish stable grip on the block."}
+{"subtask_index": 447, "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 transports it towards the front-left empty purple peg of the wooden base."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the placed white hexagonal block, fingers open and separate from the block."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 451, "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 it."}
+{"subtask_index": 452, "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": 453, "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 to the position above the purple rod on the wooden base."}
+{"subtask_index": 454, "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 purple rod of the wooden base by aligning and lowering it."}
+{"subtask_index": 455, "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 which is already fitted on the purple rod."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}
+{"subtask_index": 458, "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, with fingers adjusting to form a stable grip."}
+{"subtask_index": 459, "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 from the table and transports it towards the wooden peg base."}
+{"subtask_index": 460, "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 white peg on the wooden base and inserts it onto the peg."}
+{"subtask_index": 461, "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 sleeve from the purple peg on the wooden base."}
+{"subtask_index": 462, "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": 463, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 464, "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 from the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 465, "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 target purple peg to prepare for assembly."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}
+{"subtask_index": 467, "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 on the purple peg without moving."}
+{"subtask_index": 468, "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 block onto the purple peg on the wooden base and releases grip on the block."}
+{"subtask_index": 469, "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 placed on the table surface."}
+{"subtask_index": 470, "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 hollow hexagonal block on the table."}
+{"subtask_index": 471, "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 block and transports it above the purple vertical rod on the wooden base."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}
+{"subtask_index": 473, "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 block by opening fingers."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}
+{"subtask_index": 475, "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."}
+{"subtask_index": 476, "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 ring from the table and transports it towards the purple post on the wooden base."}
+{"subtask_index": 477, "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 ring with the purple post and lowers it onto the post to complete assembly."}
+{"subtask_index": 478, "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 ring that is already fitted on the purple post."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}
+{"subtask_index": 486, "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 block and adjusts its position on the table."}
+{"subtask_index": 487, "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}
+{"subtask_index": 488, "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}
+{"subtask_index": 489, "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 ring-shaped object, fingers open and separate from the object."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}
+{"subtask_index": 495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}
+{"subtask_index": 525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}
+{"subtask_index": 539, "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 to approach the green hexagonal block on the black table surface."}
+{"subtask_index": 540, "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 tabletop in front of the pegboard, adjusting its grip to form a stable hold."}
+{"subtask_index": 541, "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 tabletop while transporting it to above the leftmost top peg of the pegboard."}
+{"subtask_index": 542, "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 top peg of the pegboard, lowering the block down along the peg."}
+{"subtask_index": 543, "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 top peg of the pegboard without moving."}
+{"subtask_index": 544, "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 green pegboard with purple pegs on the black table and releases it."}
+{"subtask_index": 545, "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 block on the black table and grasps it."}
+{"subtask_index": 546, "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 without moving."}
+{"subtask_index": 547, "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, adjusting fingers to form a stable grip."}
+{"subtask_index": 548, "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 toward the top of the leftmost purple peg on the wooden rack."}
+{"subtask_index": 549, "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 leftmost purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 551, "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 tabletop."}
+{"subtask_index": 552, "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 tabletop with fingers adjusting to form a stable grip."}
+{"subtask_index": 553, "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 to secure the part."}
+{"subtask_index": 554, "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 upward toward the wooden peg board."}
+{"subtask_index": 555, "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 top peg of the peg board and fits it onto the peg."}
+{"subtask_index": 556, "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 top peg of the peg board without moving."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the purple cylinder upward from the wooden peg board."}
+{"subtask_index": 558, "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 cylinder downward toward the black table surface."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}
+{"subtask_index": 560, "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 near the wooden board, with fingers adjusting to form a stable grip."}
+{"subtask_index": 561, "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 to above the purple peg on the wooden board."}
+{"subtask_index": 562, "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 hole with the peg and lowering the block down."}
+{"subtask_index": 563, "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 peg by opening its fingers."}
+{"subtask_index": 564, "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 near the wooden peg tray."}
+{"subtask_index": 565, "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": 566, "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 toward the middle vertical peg on the wooden tray."}
+{"subtask_index": 567, "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 middle vertical peg and inserts it down onto the peg."}
+{"subtask_index": 568, "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 middle peg of the wooden tray without moving."}
+{"subtask_index": 569, "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."}
+{"subtask_index": 570, "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 upper block assembly toward the white hexagonal block on the table."}
+{"subtask_index": 571, "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": 572, "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 the upper block assembly."}
+{"subtask_index": 573, "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 inserts it onto the peg to complete assembly."}
+{"subtask_index": 574, "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 purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}
+{"subtask_index": 575, "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 piece on the table, with fingers closing around the piece."}
+{"subtask_index": 576, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}
+{"subtask_index": 577, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}
+{"subtask_index": 578, "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 hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}
+{"subtask_index": 579, "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 purple rod on the wooden rack to approach the white hexagonal block on the black table."}
+{"subtask_index": 580, "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 to form a stable grip."}
+{"subtask_index": 581, "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 position above the purple rod on the wooden rack."}
+{"subtask_index": 582, "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}
+{"subtask_index": 583, "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": 584, "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 rack, with fingers opening and separating from the cylinder."}
+{"subtask_index": 585, "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 square block on the black table, moving down and right."}
+{"subtask_index": 586, "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 black table, with fingers closing around the block."}
+{"subtask_index": 587, "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}
+{"subtask_index": 588, "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}
+{"subtask_index": 589, "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 located in front of the wooden rack on the table."}
+{"subtask_index": 590, "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 table."}
+{"subtask_index": 591, "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 hexagonal block without any movement."}
+{"subtask_index": 592, "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 stably grasp the green cubic block on the black tabletop."}
+{"subtask_index": 593, "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 cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}
+{"subtask_index": 594, "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 cubic block with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 595, "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 cubic block that has been inserted on the purple rod without moving."}
+{"subtask_index": 596, "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 of the wooden base."}
+{"subtask_index": 597, "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 towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 598, "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 tabletop."}
+{"subtask_index": 599, "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 up from the black tabletop."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}
+{"subtask_index": 601, "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 post of the wooden base and then releases the block."}
+{"subtask_index": 602, "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 tabletop."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 604, "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 towards the wooden rack with purple columns."}
+{"subtask_index": 605, "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 front purple column of the wooden rack and inserts it onto the column."}
+{"subtask_index": 606, "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 installed white hexagonal block on the front purple column without moving."}
+{"subtask_index": 607, "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 held on the purple rod of the wooden base."}
+{"subtask_index": 608, "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 towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 609, "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."}
+{"subtask_index": 610, "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 to the position above the purple rod of the wooden base."}
+{"subtask_index": 611, "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 base and inserts it down onto the rod."}
+{"subtask_index": 612, "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 that has been placed on the purple rod."}
+{"subtask_index": 613, "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 placed on the black table."}
+{"subtask_index": 614, "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 table, adjusting to form a stable grip."}
+{"subtask_index": 615, "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 off the table and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 616, "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 hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}
+{"subtask_index": 617, "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 on the wooden base."}
+{"subtask_index": 618, "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": 619, "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."}
+{"subtask_index": 620, "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 towards the peg on the wooden base."}
+{"subtask_index": 621, "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": 622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}
+{"subtask_index": 623, "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 tabletop."}
+{"subtask_index": 624, "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 above the purple rod on the wooden base."}
+{"subtask_index": 625, "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 inserting the rod through the hole of the block."}
+{"subtask_index": 626, "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 that is fitted on the purple rod."}
+{"subtask_index": 627, "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 cylindrical block on the black tabletop."}
+{"subtask_index": 628, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}
+{"subtask_index": 629, "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 cylindrical block off the black tabletop."}
+{"subtask_index": 630, "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 cylindrical block to the position above the rightmost purple post on the wooden rack."}
+{"subtask_index": 631, "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 cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}
+{"subtask_index": 634, "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 placed on the table surface."}
+{"subtask_index": 635, "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 block on the table."}
+{"subtask_index": 636, "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 moves it towards the bottle with purple protrusion on the wooden base."}
+{"subtask_index": 637, "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}
+{"subtask_index": 638, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 683, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}
+{"subtask_index": 686, "subtask": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}
+{"subtask_index": 687, "subtask": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}
+{"subtask_index": 693, "subtask": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}
+{"subtask_index": 844, "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 from the right initial position towards the green hexagonal block on the black table."}
+{"subtask_index": 845, "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 to grasp the green hexagonal block, with slight adjustments to form a stable grip."}
+{"subtask_index": 846, "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 grasped green hexagonal block off the black table surface."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}
+{"subtask_index": 848, "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": 849, "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 green block on the black table, with fingers adjusting to form stable grip."}
+{"subtask_index": 850, "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 block from the table and transports it above the target purple peg on the wooden base."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}
+{"subtask_index": 852, "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 away from the wooden base with assembly parts towards the white hexagonal block on the table."}
+{"subtask_index": 853, "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 closer to the white hexagonal block on the table with fingers open."}
+{"subtask_index": 854, "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 to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}
+{"subtask_index": 855, "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 from the black table surface."}
+{"subtask_index": 856, "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 upper position of the purple rod on the wooden base."}
+{"subtask_index": 857, "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 by aligning and inserting it downwards."}
+{"subtask_index": 858, "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 block fitted on the purple rod."}
+{"subtask_index": 859, "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 from the wooden block set towards the white hexagonal block on the black table surface."}
+{"subtask_index": 860, "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 to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 861, "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 and transports it upward towards the front-left purple rod on the wooden base."}
+{"subtask_index": 862, "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 white hexagonal block with the front-left purple rod and inserts it onto the rod."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}
+{"subtask_index": 865, "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."}
+{"subtask_index": 866, "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 purple peg on the wooden base."}
+{"subtask_index": 867, "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 white hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 869, "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 square block on the table surface."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}
+{"subtask_index": 871, "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 off the table and moves it towards the wooden base with vertical pegs."}
+{"subtask_index": 872, "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 hole of the green hexagonal block with the empty peg on the wooden base."}
+{"subtask_index": 873, "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 hexagonal block down along the peg to secure it in place."}
+{"subtask_index": 874, "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 block on the wooden base."}
+{"subtask_index": 875, "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 hexagonal block on the black table."}
+{"subtask_index": 876, "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 to grasp the white hexagonal block on the black table."}
+{"subtask_index": 877, "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 and transports it towards the wooden base."}
+{"subtask_index": 878, "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 white hexagonal block with the peg on the wooden base and fits it onto the peg."}
+{"subtask_index": 879, "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 fingers to release the white hexagonal block on the peg."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: idle: Right hand stays empty near the wooden base without moving."}
+{"subtask_index": 881, "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 cylindrical block on the purple rod of the wooden base."}
+{"subtask_index": 882, "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 on the table surface."}
+{"subtask_index": 883, "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 table, adjusting fingers to establish stable grip."}
+{"subtask_index": 884, "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 above the purple rod on the wooden base."}
+{"subtask_index": 885, "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 until it is supported by the lower block."}
+{"subtask_index": 886, "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 block on the purple rod."}
+{"subtask_index": 887, "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 purple cylindrical object into the corresponding hole on the wooden base."}
+{"subtask_index": 888, "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."}
+{"subtask_index": 889, "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 with fingers closing around the block."}
+{"subtask_index": 890, "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 hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}
+{"subtask_index": 891, "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 white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}
+{"subtask_index": 892, "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 cylindrical block on the front row of the wooden base."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without obvious movement. | Right hand: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}
+{"subtask_index": 894, "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 green square block on the table surface."}
+{"subtask_index": 895, "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 square block from the table and transports it towards the front right white cylindrical block on the wooden base."}
+{"subtask_index": 896, "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 and inserts the green square block onto the front right white cylindrical block."}
+{"subtask_index": 897, "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 square block downwards onto the white cylindrical block to secure it in place."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}
+{"subtask_index": 899, "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}
+{"subtask_index": 900, "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 901, "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}
+{"subtask_index": 902, "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}
+{"subtask_index": 904, "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 toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}
+{"subtask_index": 906, "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 off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}
+{"subtask_index": 907, "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 green peg, moving the nut downward to fit it onto the peg for assembly."}
+{"subtask_index": 908, "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 white hexagonal block on the top of the wooden assembly, separating from the block."}
+{"subtask_index": 909, "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 nut on the black table surface, adjusting finger posture while approaching the target."}
+{"subtask_index": 910, "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}
+{"subtask_index": 911, "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}
+{"subtask_index": 912, "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}
+{"subtask_index": 913, "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}
+{"subtask_index": 914, "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}
+{"subtask_index": 915, "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}
+{"subtask_index": 917, "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}
+{"subtask_index": 918, "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}
+{"subtask_index": 919, "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}
+{"subtask_index": 920, "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}
+{"subtask_index": 921, "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}
+{"subtask_index": 922, "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}
+{"subtask_index": 925, "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}
+{"subtask_index": 927, "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}
+{"subtask_index": 928, "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}
+{"subtask_index": 931, "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}
+{"subtask_index": 932, "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}
+{"subtask_index": 933, "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 and fits the nut onto the top of the rod."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}
+{"subtask_index": 935, "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}
+{"subtask_index": 936, "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 939, "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}
+{"subtask_index": 940, "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}
+{"subtask_index": 941, "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 closed grip on the white hexagonal nut that is now seated on the wooden peg."}
+{"subtask_index": 942, "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 green cube on the table surface with an open hand posture, approaching the cube without making contact."}
+{"subtask_index": 943, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}
+{"subtask_index": 944, "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 and moves it upward to the position directly above the purple post on the wooden rack."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}
+{"subtask_index": 946, "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 green hexagonal block fitted on the purple post."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}
+{"subtask_index": 948, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal block on the table without moving."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air 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": 958, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air 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": 970, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}
+{"subtask_index": 1000, "subtask": "Left hand: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}
+{"subtask_index": 1003, "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 and transports it to above the wooden pegboard."}
+{"subtask_index": 1004, "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1006, "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 black tabletop."}
+{"subtask_index": 1007, "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 from the tabletop and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1008, "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 inserts it onto the rod to complete assembly."}
+{"subtask_index": 1009, "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 block on the wooden base."}
+{"subtask_index": 1010, "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 surface."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 1012, "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 from the table and moves it toward the purple rod on the wooden base."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}
+{"subtask_index": 1015, "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 from the table and transports it to the top of the empty purple rod on the wooden base."}
+{"subtask_index": 1016, "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 empty purple rod by inserting it onto the rod."}
+{"subtask_index": 1017, "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 green hexagonal block on the black tabletop."}
+{"subtask_index": 1018, "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 tabletop."}
+{"subtask_index": 1019, "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 from the tabletop and moves it towards the wooden base with pegs."}
+{"subtask_index": 1020, "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 middle purple peg on the wooden base."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1023, "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 around the block."}
+{"subtask_index": 1024, "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 from the table and transports it towards the wooden rack with pegs."}
+{"subtask_index": 1025, "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 target peg on the wooden rack and adjusts it to fit onto the peg."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1028, "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 tabletop and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}
+{"subtask_index": 1030, "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 up away from the table surface."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}
+{"subtask_index": 1033, "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 green block placed on the black tabletop."}
+{"subtask_index": 1034, "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 block on the black tabletop, fingers close around the block to adjust stable grip."}
+{"subtask_index": 1035, "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 and transports it towards the white bottle with purple top on the wooden tray."}
+{"subtask_index": 1036, "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 white bottle with purple top on the wooden tray."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}
+{"subtask_index": 1040, "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 hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}
+{"subtask_index": 1042, "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 hollow hexagonal block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 1043, "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 in front of the pegboard, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1044, "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 above the leftmost peg of the pegboard."}
+{"subtask_index": 1045, "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 and inserts it onto the peg."}
+{"subtask_index": 1046, "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 leftmost peg to the bottom of the peg."}
+{"subtask_index": 1047, "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 hexagonal block on the peg."}
+{"subtask_index": 1048, "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 onto the peg of the pegboard at the upper middle of the table."}
+{"subtask_index": 1049, "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 toward the white hexagonal piece on the table surface."}
+{"subtask_index": 1050, "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 surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 1051, "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 component off the table surface and transports it to the position above the leftmost post of the peg rack."}
+{"subtask_index": 1052, "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 component onto the leftmost post of the peg rack by aligning and inserting it downward."}
+{"subtask_index": 1053, "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 component fitted on the leftmost post of the peg rack without any observable movement."}
+{"subtask_index": 1054, "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 leftmost green peg of the wooden base, with fingers opening."}
+{"subtask_index": 1055, "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 at the lower left area of the table."}
+{"subtask_index": 1056, "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 lower left area of the table, with fingers closing around the object."}
+{"subtask_index": 1057, "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 wooden rack with purple rods."}
+{"subtask_index": 1058, "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 rod of the wooden rack, aligning and pressing it down to fit."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}
+{"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 downward to approach the white hexagonal block on the table in front of the wooden pegboard."}
+{"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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 1062, "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 upward to the position above the target purple peg."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}
+{"subtask_index": 1064, "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 upward from the table surface."}
+{"subtask_index": 1065, "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 perforated block on the gray table surface without moving."}
+{"subtask_index": 1066, "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 perforated block from the table and transports it to the upper position of the peg on the wooden base."}
+{"subtask_index": 1067, "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 perforated block with the peg and fits the block onto the peg."}
+{"subtask_index": 1068, "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 perforated block fitted on the peg without moving."}
+{"subtask_index": 1069, "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 perforated block on the peg by opening fingers and separating from the block."}
+{"subtask_index": 1070, "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 building block set area to approach the white hexagonal block on the table."}
+{"subtask_index": 1071, "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 the position above the purple peg on 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: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and rightward toward the upper white hexagonal part on the black table surface."}
+{"subtask_index": 1074, "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 part on the table, with fingers closing and adjusting to form a stable grip on the part."}
+{"subtask_index": 1075, "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 upward and leftward to the position above the purple vertical post on the wooden base."}
+{"subtask_index": 1076, "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}
+{"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 and rightward toward the white hexagonal piece on the table, approaching the target without contact."}
+{"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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}
+{"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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}
+{"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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}
+{"subtask_index": 1082, "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 cylindrical part onto the purple peg of the wooden base and releases it."}
+{"subtask_index": 1083, "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 cubic block on the table."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}
+{"subtask_index": 1085, "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 closing around the top of the block."}
+{"subtask_index": 1086, "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": 1087, "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 upward and leftward to the position above the target bottle on the wooden rack."}
+{"subtask_index": 1088, "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}
+{"subtask_index": 1089, "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 fitted on the purple-topped bottle without moving."}
+{"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 opens its fingers to release the green block and separates from it."}
+{"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 toward the green hexagonal block at the lower left of the wooden base on the table."}
+{"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 contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}
+{"subtask_index": 1093, "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 upwards away from the black table surface."}
+{"subtask_index": 1094, "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 on the wooden base."}
+{"subtask_index": 1095, "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 by lowering it onto the peg until it is fully seated."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hollow block placed on the black tabletop."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}
+{"subtask_index": 1099, "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 leftmost purple rod on the wooden rack, fitting the block down onto the rod."}
+{"subtask_index": 1100, "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 that is just placed on the purple peg of the wooden base."}
+{"subtask_index": 1101, "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 purple rod on the wooden rack."}
+{"subtask_index": 1102, "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 target purple rod of the wooden rack."}
+{"subtask_index": 1103, "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 after it is fitted onto the purple rod."}
+{"subtask_index": 1104, "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 rack without moving."}
+{"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 inserts the white cylinder onto the purple peg of the wooden base."}
+{"subtask_index": 1106, "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 cylinder on the table in front of the wooden base."}
+{"subtask_index": 1107, "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 in front of the wooden rack."}
+{"subtask_index": 1108, "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 rack."}
+{"subtask_index": 1109, "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 rack."}
+{"subtask_index": 1110, "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 of the wooden base."}
+{"subtask_index": 1111, "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 green cubic block on the black tabletop."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the tabletop."}
+{"subtask_index": 1113, "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 area above the purple rod on the wooden base."}
+{"subtask_index": 1114, "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 purple rod and inserts it downward onto the rod until it reaches the base."}
+{"subtask_index": 1115, "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 purple rod, fingers gradually opening to separate from the block."}
+{"subtask_index": 1116, "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 base without moving."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to fit it onto the peg of the wooden base."}
+{"subtask_index": 1118, "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 wooden base toward the white hexagonal block on the table."}
+{"subtask_index": 1119, "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 green peg on the wooden base."}
+{"subtask_index": 1120, "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 green peg on the wooden base by aligning and lowering it."}
+{"subtask_index": 1121, "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 from its grasp after placing it on the peg."}
+{"subtask_index": 1122, "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 toward the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 1123, "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 it."}
+{"subtask_index": 1124, "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 leftward and upward toward the purple rod on the wooden base."}
+{"subtask_index": 1125, "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 on the wooden base by aligning its hole with the rod."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}
+{"subtask_index": 1127, "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 top of the purple rod on the wooden base and releases the block by opening fingers."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}
+{"subtask_index": 1129, "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 above the table surface without moving."}
+{"subtask_index": 1130, "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 towards the purple rod on the wooden block."}
+{"subtask_index": 1131, "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 ring with the purple rod by lowering it onto the rod."}
+{"subtask_index": 1132, "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 ring after placing it onto the purple rod."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}
+{"subtask_index": 1136, "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, fingers separate from the block surface."}
+{"subtask_index": 1137, "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 green block on the table again to approach it."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green hollow block placed on the table."}
+{"subtask_index": 1139, "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 test tube rack at the center of the table."}
+{"subtask_index": 1140, "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 hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}
+{"subtask_index": 1141, "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 after it is properly placed on the test tube."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}
+{"subtask_index": 1191, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}
+{"subtask_index": 1192, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}
+{"subtask_index": 1193, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1194, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}
+{"subtask_index": 1195, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 1196, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 1197, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}
+{"subtask_index": 1198, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1199, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}
+{"subtask_index": 1200, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}
+{"subtask_index": 1201, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1202, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}
+{"subtask_index": 1203, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}
+{"subtask_index": 1204, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}
+{"subtask_index": 1205, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}
+{"subtask_index": 1206, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}
+{"subtask_index": 1207, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1208, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}
+{"subtask_index": 1209, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1210, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}
+{"subtask_index": 1211, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}
+{"subtask_index": 1212, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}
+{"subtask_index": 1213, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}
+{"subtask_index": 1214, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 1215, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}
+{"subtask_index": 1216, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}
+{"subtask_index": 1217, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1218, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 1219, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}
+{"subtask_index": 1220, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}
+{"subtask_index": 1221, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}
+{"subtask_index": 1222, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}
+{"subtask_index": 1223, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}
+{"subtask_index": 1224, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}
+{"subtask_index": 1225, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}
+{"subtask_index": 1226, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}
+{"subtask_index": 1227, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}
+{"subtask_index": 1228, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}
+{"subtask_index": 1229, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}
+{"subtask_index": 1230, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 1231, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}
+{"subtask_index": 1232, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 1233, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}
+{"subtask_index": 1234, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}
+{"subtask_index": 1235, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}
+{"subtask_index": 1236, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}
+{"subtask_index": 1237, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}
+{"subtask_index": 1238, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 1239, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}
+{"subtask_index": 1240, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}
+{"subtask_index": 1241, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}
+{"subtask_index": 1242, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}
+{"subtask_index": 1243, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1244, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}
+{"subtask_index": 1245, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}
+{"subtask_index": 1246, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}
+{"subtask_index": 1247, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}
+{"subtask_index": 1248, "subtask": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}
+{"subtask_index": 1249, "subtask": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1283, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}
+{"subtask_index": 1302, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1333, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}
+{"subtask_index": 1350, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}
+{"subtask_index": 1380, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}
+{"subtask_index": 1415, "subtask": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}
+{"subtask_index": 1416, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}
+{"subtask_index": 1417, "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 green hexagonal block on the black table surface."}
+{"subtask_index": 1418, "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 stably without any movement."}
+{"subtask_index": 1419, "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1420, "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}
+{"subtask_index": 1422, "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 located on the tabletop in front of the wooden base."}
+{"subtask_index": 1423, "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 tabletop."}
+{"subtask_index": 1424, "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 from the tabletop and moves it toward the target purple rod on the wooden base."}
+{"subtask_index": 1425, "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 it onto the rod."}
+{"subtask_index": 1426, "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."}
+{"subtask_index": 1427, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1428, "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 tabletop, with fingers adjusting to form stable grip."}
+{"subtask_index": 1429, "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 from the tabletop and transports it above the purple peg on the wooden base."}
+{"subtask_index": 1430, "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 peg and inserts it onto the peg."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}
+{"subtask_index": 1433, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}
+{"subtask_index": 1434, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}
+{"subtask_index": 1435, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}
+{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}
+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}
+{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}
+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}
+{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}
+{"subtask_index": 1452, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}
+{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1460, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}
+{"subtask_index": 1461, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}
+{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}
+{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}
+{"subtask_index": 1465, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}
+{"subtask_index": 1466, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}
+{"subtask_index": 1467, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}
+{"subtask_index": 1468, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}
+{"subtask_index": 1469, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}
+{"subtask_index": 1470, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}
+{"subtask_index": 1471, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}
+{"subtask_index": 1472, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 1473, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}
+{"subtask_index": 1474, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}
+{"subtask_index": 1475, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}
+{"subtask_index": 1476, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}
+{"subtask_index": 1477, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}
+{"subtask_index": 1478, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}
+{"subtask_index": 1480, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}
+{"subtask_index": 1481, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}
+{"subtask_index": 1484, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}
+{"subtask_index": 1485, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}
+{"subtask_index": 1486, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}
+{"subtask_index": 1487, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}
+{"subtask_index": 1488, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}
+{"subtask_index": 1489, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}
+{"subtask_index": 1490, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}
+{"subtask_index": 1491, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}
+{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}
+{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}
+{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}
+{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}
+{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}
+{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}
+{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}
+{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}
+{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}
+{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}
+{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}
+{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}
+{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}
+{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}
+{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}
+{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}
+{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}
+{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}
+{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}
+{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}
+{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}
+{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}
+{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}
+{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}
+{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}
+{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}
+{"subtask_index": 1519, "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 located in front of the wooden base on the black table."}
+{"subtask_index": 1520, "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": 1521, "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 to above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1522, "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 block onto the leftmost purple peg by moving it downward along the peg."}
+{"subtask_index": 1523, "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 fitted on the purple peg."}
+{"subtask_index": 1524, "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 table."}
+{"subtask_index": 1525, "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 by closing its fingers around the block."}
+{"subtask_index": 1526, "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 moves it toward the wooden base with purple pegs."}
+{"subtask_index": 1527, "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 by aligning and inserting it downwards."}
+{"subtask_index": 1528, "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 towards the white hexagonal block on the black table."}
+{"subtask_index": 1529, "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": 1530, "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 off the table surface."}
+{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}
+{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}
+{"subtask_index": 1533, "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 towards the white hexagonal block on the tabletop in front of the wooden base."}
+{"subtask_index": 1534, "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 tabletop."}
+{"subtask_index": 1535, "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 towards the purple rod on the wooden base."}
+{"subtask_index": 1536, "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 rod on the wooden base."}
+{"subtask_index": 1537, "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 purple rod."}
+{"subtask_index": 1538, "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 block base towards the green block on the black table."}
+{"subtask_index": 1539, "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 form a stable grip on the green block on the black table."}
+{"subtask_index": 1540, "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 upward off the black table surface."}
+{"subtask_index": 1541, "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 stably grasp the green block on the black table."}
+{"subtask_index": 1542, "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 area above the target peg on the wooden base."}
+{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}
+{"subtask_index": 1544, "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 cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 1545, "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 hollow block on the table surface."}
+{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}
+{"subtask_index": 1547, "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 towards the purple rod on the wooden base."}
+{"subtask_index": 1548, "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, fitting it down onto the rod until it rests on the green block below."}
+{"subtask_index": 1549, "subtask": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}
+{"subtask_index": 1550, "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}
+{"subtask_index": 1551, "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 cylindrical sleeve placed on the black table surface."}
+{"subtask_index": 1552, "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 hollow block on the black table surface."}
+{"subtask_index": 1553, "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 hollow block and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1554, "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 hollow block with the purple rod on the wooden base for assembly."}
+{"subtask_index": 1555, "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 white hollow block onto the purple rod and releases the block."}
+{"subtask_index": 1556, "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 wooden base."}
+{"subtask_index": 1557, "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 on the black table surface."}
+{"subtask_index": 1558, "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 surface."}
+{"subtask_index": 1559, "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 purple rod on the wooden rack."}
+{"subtask_index": 1560, "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 rod and fits it down onto the rod."}
+{"subtask_index": 1561, "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 white hexagonal block on the purple rod."}
+{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}
+{"subtask_index": 1563, "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 block placed on the table below the wooden board with bottles."}
+{"subtask_index": 1564, "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 around the green block on the table to establish a stable grip."}
+{"subtask_index": 1565, "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 from the table and transports it towards the wooden bottle rack."}
+{"subtask_index": 1566, "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 block onto the top of the target white bottle on the wooden rack."}
+{"subtask_index": 1567, "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 green block from its grip."}
+{"subtask_index": 1568, "subtask": "Left hand: other:adjust_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}
+{"subtask_index": 1569, "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 block with a hole, approaching the target without contact."}
+{"subtask_index": 1570, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}
+{"subtask_index": 1571, "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 with a hole on the table without moving."}
+{"subtask_index": 1572, "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 surface with fingers closing around the block."}
+{"subtask_index": 1573, "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 above the left-front purple peg of the wooden rack."}
+{"subtask_index": 1574, "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 left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}
+{"subtask_index": 1575, "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 left-front purple peg without moving."}
+{"subtask_index": 1576, "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": 1577, "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 wooden rack."}
+{"subtask_index": 1578, "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 to approach the white hexagonal ring on the table in front of the pegboard."}
+{"subtask_index": 1579, "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 table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 1580, "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 and leftward to above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1581, "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 leftmost purple peg and lowers it onto the peg to assemble."}
+{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}
+{"subtask_index": 1583, "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 ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}
+{"subtask_index": 1584, "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 and slightly moves its fingers upward away from the ring."}
+{"subtask_index": 1585, "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}
+{"subtask_index": 1586, "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 work surface."}
+{"subtask_index": 1587, "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 piece on the black work surface to form a stable grasp."}
+{"subtask_index": 1588, "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 toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1589, "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 leftmost purple peg and fits it onto the peg."}
+{"subtask_index": 1590, "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, fingers open and separate from the block."}
+{"subtask_index": 1591, "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 set to approach the white hexagonal block on the table surface."}
+{"subtask_index": 1592, "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": 1593, "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 toward the middle front purple peg of the peg set."}
+{"subtask_index": 1594, "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 middle front purple peg and fits it down onto the peg to complete assembly."}
+{"subtask_index": 1595, "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}
+{"subtask_index": 1596, "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 piece on the black table surface."}
+{"subtask_index": 1597, "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 piece on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 1598, "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 to the position above the purple peg on the wooden base."}
+{"subtask_index": 1599, "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 hexagonal block with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 1600, "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 fitted on the purple peg without moving."}
+{"subtask_index": 1601, "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 wooden base, with fingers opening."}
+{"subtask_index": 1602, "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, moving downward."}
+{"subtask_index": 1603, "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 it."}
+{"subtask_index": 1604, "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 block off the table and moves it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1605, "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 rod on the wooden base, lowering and adjusting the block to fit onto the rod."}
+{"subtask_index": 1606, "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 top of the stacked blocks, with fingers opening."}
+{"subtask_index": 1607, "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 surface."}
+{"subtask_index": 1608, "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 to adjust and stabilize the grip."}
+{"subtask_index": 1609, "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 upward toward the top of the stacked blocks."}
+{"subtask_index": 1610, "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 on top of the stacked blocks and releases it."}
+{"subtask_index": 1611, "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 lower white hexagonal block on the table surface."}
+{"subtask_index": 1612, "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 right side of the table."}
+{"subtask_index": 1613, "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 to above the purple rod on the wooden base."}
+{"subtask_index": 1614, "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 down onto the rod."}
+{"subtask_index": 1615, "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}
+{"subtask_index": 1616, "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, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 1617, "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 block off the table and transports it toward the purple peg on the wooden rack."}
+{"subtask_index": 1618, "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 block with the purple peg and fits it onto the peg."}
+{"subtask_index": 1619, "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 block on the purple peg by opening its fingers."}
+{"subtask_index": 1620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}
+{"subtask_index": 1621, "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 square block on the right lower part of the table."}
+{"subtask_index": 1622, "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 right lower part of the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1623, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}
+{"subtask_index": 1624, "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}
+{"subtask_index": 1625, "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 next to the wooden pegboard."}
+{"subtask_index": 1626, "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 around the block."}
+{"subtask_index": 1627, "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 up from the black table surface."}
+{"subtask_index": 1628, "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 upward and rightward to the position above the leftmost purple peg."}
+{"subtask_index": 1629, "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 purple peg by moving it downward until it fits in place."}
+{"subtask_index": 1630, "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 leftmost purple peg without moving."}
+{"subtask_index": 1631, "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 object onto the left purple peg and releases its grip."}
+{"subtask_index": 1632, "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 on the black table surface."}
+{"subtask_index": 1633, "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 object on the table, adjusting the grip slightly."}
+{"subtask_index": 1634, "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 toward the wooden peg base."}
+{"subtask_index": 1635, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}
+{"subtask_index": 1636, "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 block onto the front-left peg of the wooden base and releases it."}
+{"subtask_index": 1637, "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."}
+{"subtask_index": 1638, "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": 1639, "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 block towards the front-left purple peg on the wooden rack."}
+{"subtask_index": 1640, "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 front-left purple peg on the wooden rack and slides it down onto the peg."}
+{"subtask_index": 1641, "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 block onto the leftmost purple peg of the wooden base and releases the block."}
+{"subtask_index": 1642, "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 toward the middle purple peg on the wooden base."}
+{"subtask_index": 1643, "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 middle purple peg, aligning the hole of the block with the peg and inserting it downward."}
+{"subtask_index": 1644, "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 peg to secure its position."}
+{"subtask_index": 1645, "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 moving slightly away from the block."}
+{"subtask_index": 1646, "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 hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}
+{"subtask_index": 1647, "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 to form a stable grip."}
+{"subtask_index": 1648, "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 area above the target peg of the wooden board."}
+{"subtask_index": 1649, "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 target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}
+{"subtask_index": 1650, "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 sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}
+{"subtask_index": 1651, "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 sleeve on the black table surface."}
+{"subtask_index": 1652, "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}
+{"subtask_index": 1653, "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 white hexagonal sleeve on the black table surface without moving."}
+{"subtask_index": 1654, "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}
+{"subtask_index": 1655, "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 slightly adjusting to stabilize the grip."}
+{"subtask_index": 1656, "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 to the position above the purple peg on the wooden base."}
+{"subtask_index": 1657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}
+{"subtask_index": 1658, "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 peg, with fingers opening to separate from the block."}
+{"subtask_index": 1659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right from the wooden block base toward the upper white hexagonal block on the table."}
+{"subtask_index": 1660, "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 and adjusting to form a stable grip."}
+{"subtask_index": 1661, "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 position above the purple peg on the wooden base."}
+{"subtask_index": 1662, "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 to mate onto the peg."}
+{"subtask_index": 1663, "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 rod of the wooden rack and releases it."}
+{"subtask_index": 1664, "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 surface."}
+{"subtask_index": 1665, "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."}
+{"subtask_index": 1666, "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 piece upward off the table surface."}
+{"subtask_index": 1667, "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 piece back onto the table surface and releases it."}
+{"subtask_index": 1668, "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 again."}
+{"subtask_index": 1669, "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 table without moving."}
+{"subtask_index": 1670, "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 leftward and upward toward the purple rod on the wooden rack."}
+{"subtask_index": 1671, "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 block with the purple rod and fits it down onto the rod to complete the assembly."}
+{"subtask_index": 1672, "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 hollow block on the purple rod and moves slightly upward away from the block."}
+{"subtask_index": 1673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}
+{"subtask_index": 1674, "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 table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1675, "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 upward to the top of the target bottle on the wooden rack."}
+{"subtask_index": 1676, "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 top of the target white bottle, aligning and fitting it into place."}
+{"subtask_index": 1677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}
+{"subtask_index": 1678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}
+{"subtask_index": 1679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}
+{"subtask_index": 1680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}
+{"subtask_index": 1681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}
+{"subtask_index": 1682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 1683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}
+{"subtask_index": 1684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}
+{"subtask_index": 1685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}
+{"subtask_index": 1686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}
+{"subtask_index": 1687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}
+{"subtask_index": 1688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}
+{"subtask_index": 1689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}
+{"subtask_index": 1691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}
+{"subtask_index": 1692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}
+{"subtask_index": 1693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}
+{"subtask_index": 1694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}
+{"subtask_index": 1695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}
+{"subtask_index": 1696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}
+{"subtask_index": 1697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}
+{"subtask_index": 1698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}
+{"subtask_index": 1699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}
+{"subtask_index": 1700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}
+{"subtask_index": 1701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}
+{"subtask_index": 1702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}
+{"subtask_index": 1703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}
+{"subtask_index": 1704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}
+{"subtask_index": 1705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}
+{"subtask_index": 1706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}
+{"subtask_index": 1707, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}
+{"subtask_index": 1708, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}
+{"subtask_index": 1709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}
+{"subtask_index": 1710, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}
+{"subtask_index": 1711, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}
+{"subtask_index": 1712, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}
+{"subtask_index": 1713, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}
+{"subtask_index": 1714, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}
+{"subtask_index": 1715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}
+{"subtask_index": 1716, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}
+{"subtask_index": 1717, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 1718, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}
+{"subtask_index": 1719, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}
+{"subtask_index": 1720, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}
+{"subtask_index": 1721, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}
+{"subtask_index": 1722, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}
+{"subtask_index": 1723, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}
+{"subtask_index": 1724, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}
+{"subtask_index": 1725, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}
+{"subtask_index": 1726, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}
+{"subtask_index": 1727, "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 green hexagonal block placed on the black table surface."}
+{"subtask_index": 1728, "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": 1729, "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 and moves it above the leftmost purple peg."}
+{"subtask_index": 1730, "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 leftmost purple peg and inserts it onto the peg."}
+{"subtask_index": 1731, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}
+{"subtask_index": 1732, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}
+{"subtask_index": 1733, "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 and green block on the black table and releases the grasp."}
+{"subtask_index": 1734, "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 block on the table and grasps it."}
+{"subtask_index": 1735, "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 nut from the black table surface with a stable grasp."}
+{"subtask_index": 1736, "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 nut towards the top of the leftmost purple peg on the wooden base."}
+{"subtask_index": 1737, "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 leftmost purple peg and inserts it onto the peg."}
+{"subtask_index": 1738, "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 nut down along the purple peg until it reaches the bottom of the peg."}
+{"subtask_index": 1739, "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 nut from its grasp."}
+{"subtask_index": 1740, "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 ring placed on the black table surface."}
+{"subtask_index": 1741, "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 table, adjusting the grip to be stable."}
+{"subtask_index": 1742, "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 position above the target purple rod on the wooden base."}
+{"subtask_index": 1743, "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 target purple rod and lowers it to fit onto the rod."}
+{"subtask_index": 1744, "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 ring which is now fitted on the purple rod."}
+{"subtask_index": 1745, "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 near the wooden base."}
+{"subtask_index": 1746, "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 above the purple rod on the wooden base."}
+{"subtask_index": 1747, "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": 1748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}
+{"subtask_index": 1749, "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": 1750, "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": 1751, "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 hexagonal block to above the wooden base."}
+{"subtask_index": 1752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}
+{"subtask_index": 1753, "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 white peg of the wooden base without moving."}
+{"subtask_index": 1754, "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 base."}
+{"subtask_index": 1755, "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": 1756, "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 upper part of the peg on the wooden base."}
+{"subtask_index": 1757, "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 corresponding peg of the wooden base."}
+{"subtask_index": 1758, "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 to make it fit tightly on the peg."}
+{"subtask_index": 1759, "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 pillar on the wooden base and releases the block."}
+{"subtask_index": 1760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close to grasp the block."}
+{"subtask_index": 1761, "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 tabletop next to the wooden base by closing fingers."}
+{"subtask_index": 1762, "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 tabletop and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1763, "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 the hole of the block with the rod and inserting it downwards."}
+{"subtask_index": 1764, "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 after the block is fully placed onto the purple rod."}
+{"subtask_index": 1765, "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 placed on the dark table surface."}
+{"subtask_index": 1766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}
+{"subtask_index": 1767, "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 table surface."}
+{"subtask_index": 1768, "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 above the purple rod on the wooden base."}
+{"subtask_index": 1769, "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 ring onto the purple rod on the wooden base."}
+{"subtask_index": 1770, "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 cap onto the top of the white column on the wooden base."}
+{"subtask_index": 1771, "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 green block placed on the table surface."}
+{"subtask_index": 1772, "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 table with fingers closing to form a stable grip."}
+{"subtask_index": 1773, "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 target white column on the wooden base."}
+{"subtask_index": 1774, "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 target white column and fits it onto the column."}
+{"subtask_index": 1775, "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 that is fitted onto the white column."}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/tasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3606c7d62df09a7ba7d1d3b13ec5cfb5e44fa63
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..5209df0a3b2ef92341108e66007f503b0286f73d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 34,
+  "frames": 78803,
+  "video_frames": {
+    "observation.images.head_left": 78803,
+    "observation.images.wrist_left": 78803,
+    "observation.images.wrist_right": 78803,
+    "observation.images.head_right": 78803,
+    "observation.images.tactile_deform": 78803,
+    "observation.images.tactile_raw": 78803
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 34
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e3a717a0a43312a448cea45c2112ad88465d297
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7b8b7d041ee91d84b289ab1693a66d32a43667af3ed7f96722f695edd4e024
+size 43178562
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e63c8c4f9690ff825fd1dc8dc635bdd1ca960a62
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81951698c0e8ec49678f5d3cddce25408c999bd0e53e6c7ace854daf1fe3958
+size 38941845
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44ccf9e5b6367db41f9b6ef082138c685f3774fc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45838c617db841a8c57cd9b2f182f31ac50ee0eabbd3ea46455e589ffd69bb0b
+size 56676760
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fb4b2e25461e7fae7a18d0462ede8dc7aadebdf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c54563cf01612e9964e6532d530170747ab709ed1cd2077b337c8e4f6e62bd
+size 60472904
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b7f948550d59774189474cff7c3bc12cba8e3d8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9b93d9ba8e44e4a0077c6f780bb7b70748f878e007be3379796eb361a92583
+size 40928935
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a982e0ec40f5fbf5bc4a9289038a44e69b28c584
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:042179cd2eb4c3f089564184f279d00abda5aa60d3c36070505ad685d79317e2
+size 50429396
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3f67f226de373fafa85cab6b46a6202aca6ad18
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bee2f281fabeb3105adb30e740dfdb91c6f735bf79a3ace36f99041dd35f89e
+size 32605086
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2f54412481568aefa40f9e7a9c7cc63e56c6937
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9058c593dacdb1791a2c24b840b9a1b9c1c05de4594c87cb2d6e7a90d6d57867
+size 42029323
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1f27551258b54a872fd3c2f62c179899a4e1edb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f24c630aec21a5f37fba40ff1ed0b3ccd4e21537c4351ffc5f0af5f1cf079d1
+size 41519855
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06b76c074b4ee3270a32ceea6cc1d12e1024f696
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e8d546576f7fac0ddb7f21212eae1f74f244de41ae35c705b8bc96b10a4f0b
+size 42405515
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c51e593231cd37efb0d5f3e2febe1144e24026a7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb5ba2859c501355bbf9d39325d8026d0b016e84f2310940ae304fad95b3384
+size 39501887
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..547b56d9e2c2cfcf7e6d5e264bb9b467932b32bf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b638fd73b7565c341e6a12f5406332ee05601ee4be78cbe607b1f91e377b4316
+size 35575252
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5efd1bcaaff97049c162a9b4fab5b8bcdbee71e9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481ee017fb3fe5137f71bbb7af0065c948170dc046d259f85d0be5a0ffa9bda2
+size 53526609
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4197d577b9169585726542d58ced536ffd513214
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f653ecb9c6c156c93cf70832a2764df347cf942e60279b30daf533682f17a8ab
+size 41595154
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16b0c84a51d5a79613141991daa36a01a9a2ae98
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c489ce14d32cabcb21ba34fecca73977a8b03fd804bc1b8df643c241d612ab4
+size 39439320
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8b95eb5af48164a99792836d233e599de9e7936
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74041695870957d658a5420c603a29589e9baef1416d6955bd38aed06c0b0f8
+size 40113809
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c06df3cc017bc3c6b79699f60d23256ec5661d1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f5159a726e220b530c5ef9e75b91e34fcd52135cbbd1a9f748897fe32aa3a5
+size 37802842
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc7637f9346288688da2a639298c81d215c57a47
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa86dfa4dce12369c1a4020d3543996a53e4cdad5a4ddad1fb691fc895323f6
+size 41992070
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be09923da936684577191f665fd0a17628ae70aa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ac986c3a3079d317d372a2232de55df0e5e57cac234c6bd6b5550a945970c8
+size 36516989
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fcc02828c83b91acde395a30d84d451ef43839b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f686aa746b28d44ca54613f25fbaba60510a7b722e7ca20280deb9efe0e3204e
+size 33644925
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c369b2ede943c464db3967b546347c15229f4ad4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474e22d69e46facd4daa801f671ddf64398aefeb53f621b752daf1e9ffd53731
+size 42381912
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf1d4d0856b401b1e6aeda23bc5216185fba3057
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a575e46a9281c4a51a221626c27328d14a9f57bc30ade634883e645be4b2590
+size 42867446
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ee4e85b935986b5d5d235cabd569aa4906a4024
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd742572cf17aac7220218fca3022f0698628fbab6bae5fe5e1c950c5fe5ee2
+size 42489276
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaee6c72923705b94057169ec8b90173b5ebb005
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292f307b38c1fdcfc56e0f83bc1178d5de08666c6892bfd5d74d9743c3e8b4d9
+size 42558133
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c73162a8078feaf91b91687d87d74b0884878463
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2254bce0bb4be1a3e003f9c7736a9e1d5b1479bac7b44a636aa75a5d1a3f6b
+size 38190424
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d4aa46b06543dbf8e80399ced744d72567f25e8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7989371b8338d98577e3dcaeaff50ba50b04c9dc5947c51c411cad56cd3fe9e
+size 34146466
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b257c6098c1528a2f389e131d845e447318295f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29539a0e5d5ee1530a9e850eb410dd2665d1e26ab6b2e3f7eb5ab864619245b6
+size 42952411
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..587b7e5ce4beb64c5d1a9778598167157610d4c8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12645cb87467eb075f4d21c95d18237d5921424806f494c30a584289ba0ec37c
+size 38448459
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5db8e07bee97403bac63d0833d0e32b2e6a093f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ed0ac6162ea62ef62096e9266e280eafb841b415c7675f85159e488fcc44f1
+size 53194953
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac07a21e3e2ba435542ff8f1cfdde6eccaeecc92
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204d347d6f475c2cb694facd67cbd732b3e7e7da0dd3e543229bf1fc90843901
+size 44039915
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8333d00ff46aae0ac6d0c75509a57dc57a7c4f77
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d981cfae4b2c67d791ba45579d9a0b7b7c2169c06b3c0a18e7ada4cd4d4d6edd
+size 40112593
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6094d11a4cf7d509edbecdb1e43ed65890de6335
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391eb710bdb59ec4bd62d5fae08a8cbfa36827ebee69dfc36b67839c8eab2bb4
+size 34749286
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcf48e81f7017ed7a24c65daef7bc69d5887a09c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5352946186a0872b529b84a6d458569a23d396d0f7bb0af1ee0f7790b6f4593
+size 40832002
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf0dc9a794b8de3b0dac9c522f82a07f8af61a4a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f104c5b68a5f0512688e6bce200ba75f1908a39b19035a91afc59a2476b324
+size 34498120
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3aacabd731b338b62523bb42b84f1d3f9233b41
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a95df4b77652c8ed6af1b878a6050a5ac7051a3f6e3e0b7ea133c214e86bd8
+size 44503940
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..497353d83cdae99d158c8d4f78d2388ca6b19837
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226c3a458dc986a78957d14884250e34b63d1f021fe0b3af0fe9d8c8406d267d
+size 39886584
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af4dc9bc90c3581951d0c5c0c2be245ff59f2a7d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a9d802048bc47af6eccf30fa644aca6a57bd0b9dd8a9cda080e9301497f5f8a
+size 58503764
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4254d183fc28f4a3a53128031808e8cdab33c56
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431a32e18fb4ffb0d23e8f081b3e3e4f603d462e994ce50bdb5200c8fbb1207a
+size 62395263
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34a57a80a4c1483b18b1d1ecae01fe2a7a0b3bf8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020050e90744af7ab6041ad82093a8c49d8c890b8586cd876b844d940d3e553f
+size 42421040
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87612d0dc3ac9abe03cdbe1d695260370f74fadd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdfdfe603b46eeb7df0efe50615f7655dbdbdbc57b0d6540fe5957c266c93384
+size 52254628
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70b9fa2ba64bf4ddb02e8a4d9edcb7b7ee9b5490
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf40c9efc9552ea1e42e56f47ed2c988d33cfe95cf12382f259befe1e01c5b5
+size 33515681
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99adae7acd0dcaa1e0f2a80040bcebbeb5b1f8a6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:396e9f7ca4c1835edda62c6ec29af53c41e4b042ce3669e0aea7af4a45cfa8ee
+size 42928906
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc8f15bbf67a826676544303b84c32b0f0745af9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f7ce9e2612b8f991443b7bba83708b6c5f5d8b6492048c5ce997f5470edb6a
+size 42625383
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0daafb72f622c933180e201b6acfe1c86215f05
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983e3e442558e641c5d30e003f23e8b646e8433ddbe327136a36cb9695ebe2bc
+size 43952229
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7950adc159027395412aaa246299b69f637f08ba
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a49d531d1be1928988d987a87e4467ec2872e3d09d0641e0878ebbdfee1f569
+size 40723495
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..896066cfb584043f803df9213e3b856d7934b81c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29391f77281d733bc9923e9ac1de7c38f2621335cc07ac3d958130d4ede9fa7b
+size 36810256
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d6156b1d30fb0a4b1476f44e7bf58aa83896e0e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1da81c07e51b467f2b880078efa571293d970d67fac5df106e006652528327c
+size 55343235
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4eca1f25567125e4140b004df3d347049aa84dcc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c063219a121d450a9b3027026d84a6c736618e7c9ddf333bc5c7cb7f2e5f1317
+size 43092315
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f18f4a8a400d89835f42070e1af3c904d6cc5b9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b678c588cdf6e051f1e389607ee01022c2612c4d05a67f162d42c677e7d010
+size 40690855
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..add4a0235c02721b3f284aea82aee5962e6f258b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a97fd0e12ccecf1b7e9926ceeee3976586f7e33cecbe3f59ce5bb42e5d4e98c
+size 41326442
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..592e0bb47322b0c70da337df782c45dc41b1e138
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a8acd38addac808bd7ba053abb9a1df42f8d77ab38c7ec44a4881f18c4aacdf
+size 38966017
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2b1317da89a053130bef823cd5de190ccb03cf5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8fb81180fbb0b401a65474d5778ac741964adb3c505e909ac493a63660e6305
+size 43154354
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9865e3e8c515687b51f4f81d4f1f5e364c4f2a3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4ec4baa699c2231c6e1c06de38e50b63f75d43605a88c11b8d66e722897d73
+size 37452664
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce283c62fc9dca1349d39f7b57b0c1e998f84d30
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879655f6e29b0de663bedce4313e6aae26e8f6b5c8a1b6b1e9112645d788f7f8
+size 34555089
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..748190143c0e271474e70b9c8f1872817d35ce74
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983502e16dc9b2d42f7bdb8b00ef69c7b9fad51289f12fa60641126713b60e77
+size 44029347
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00c66d9206de4258563c4c48968bf35c1b3b3c98
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12d634e1f5ee47762bf50d67598e7f64dddebf0f4b23afac3b1daae9d05ea896
+size 44386427
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a44a4fed401a502c223b9464ad186b21c9637f84
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7185a2967281ff1b768095d7d79f1c580eb2662990de19eefc7be45f6d351fcd
+size 43685384
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85181e52067e0378e92e4b43ed141f970f95a402
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba3526fb7d0e5079290120d24eccf9bab72a1e6d8be6fa31f7daf1c61ad728c
+size 43968225
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..914e62d1e76b3a3aa5a049abbd7b8843422ca7f4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3739b71a7be39dac19b459fc18a9273ab92771f237d2a19b592cb5a638e2e044
+size 39228539
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df6c9f25d2ab602ecd646fd579edbdf6a310afe4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31644f36e637a85e06616889ab348a58a3d1a6a5ab743d170d8ddc54ab8597dd
+size 35222404
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a82dbaf902663abb0f0129af752f20b82e1a87ec
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2357df0ea1767b505ab75fe0e633b00da401b2fc48238eed8b0b26997547b170
+size 44721530
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7817016ede9e0c3d1c96a7c8e665d8cce681278f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ed67b78e8dafef84e48d900459407eaea3048ecbac17726eb6ece8f8386b7aa
+size 39896107
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08c239444db377014933c367b1ea707d25eacd41
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d640bf2d75bbf4f27201393008112c3aaf23a5e261281056484400a0658b8aa
+size 54457424
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3c3140221166ef497f8e6709780915207b422e1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07809fa7e6869efe5f38688b6105ecf0ebbe829361eea94f04c3f79201d6128
+size 45430345
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..479c883033eda5a93aceddedfed7a4845dee5035
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8213ff418b1533e97b4325ec7a6e31df88c55cec67c466ea36a340b394f83db0
+size 41227817
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..102b39c16435f7180f3d3738ef87019d1177e5aa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163a1dfa49099aabf67fa9f3c56f6e31485c315a2b533cfcda12031450833c82
+size 35871659
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1084f3467c918122d714aca8ae3ce286fb28d788
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f2d9a111c7aca63e9b78ef040d7db77f87859e11718d996f300733c9602cd0
+size 41902987
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49d18ae3f9dd1d2fce46743011f1bcbc25d7b0a8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee0e59572921fb99ffd0fa17d45e8e4da83c468ba699a46cf47750db18cedb0
+size 35688794
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a575cf12db6c21e0eb45f18e83be549a28147b84
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9fb037d372235ff81cc45e80eea41ffec4be94cf72da2c6e2ace7dbba28212
+size 1072034
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf732234ad275503cc16ed2dfdb49f1fc718b36d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511eda7e1c77dcb45e6ea1ba9705fa0256969b8328c29f405f1ff06b304aa571
+size 1011339
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14a9afa2aaf664c895ccc5e76130dded100d6d1d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ed2dcebe54eb13ef3b1760ff80ecce8a2bd82d06c1f14f7ba3e16afec07180
+size 1583115
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..019c24b59293737de65b52e79718e55a327ccc75
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a5d3b3803198eaad1527bef12e8190be0b11177f83f3020cb2d4a42ebbe4890
+size 1783537
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb1151e39fa87687920c989362c8105b776c6db8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b13931dfd924cdfeb2502fcdf1b7d1430de590160cdf960cc6f89eed87d0a5bd
+size 1009848
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a08ac95dc371d1ffd4e1842a0b4fa9d4d621eeaa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2118a8ddc4fd5d75119dbdb9ba986c9724a237c84fa79886ae3c28c588740672
+size 1281607
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca9f3decb12f64ffb2caf009f7b0f097679be02f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e817e4c4290ffab2a6d16ce4c0785ed01151d94690621672ee5aa6a1511d7f
+size 991015
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4905714d061418c0c45252e275052be5ab26aff3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb780db88447b68f7c3e46180d986f993cea4f68df18b0fab6de5dfff469b031
+size 1101461
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2d3a04db72d8671b710fc9b3e328b78d3ed0039
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d02f4052bece5a55796f06a3d4d098ccee650913c7a20707bc258de8304743
+size 1026504
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef0700bdc0ae13702c001137947ab7ce21b50d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b57ce966ef365624944ddd1f4cf99e2abc8487de835d88f279ff3c49d3e0da
+size 1001008
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25a101f83d6726eb6f7bb90061b0858a1f6eb214
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c61c03e2e4ad0a812db13ef5cb798b6875ae3265e667062ffebe8cc8e5089a1
+size 1034829
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38a57952876b6d112c9f3a6b36f6b207e766e2ff
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f5d58e907ecea394530db026e9d5123ea0e6084a452411c195f1f20e9c46c7
+size 826452
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79042d1bf62cd86964cfef6514a89e3155de1139
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462426cc0603120b7898d7950c6806695b0257c8fc5caedf015da9f1ab6721c9
+size 1447337
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e77fda2797cccf08e77a7b0007745980f3312890
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7353b8d6329c7b5bcdfac3b08b5b610b68d6c50d9ff584f7517d988dcd7a0cf8
+size 991951
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e61d5d2555e7cd5b2a424229a55a651913535b1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0339687f4d8fead842daf6f8afaddb294af9f6b7da80b6b758415bdbfbfcfa2
+size 830651
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4741d25f06a998b5b4941d3a8578d721ea76b539
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32fa94bc600400b4f52c1e2501566d910aab295cdb2a7d6b2d688271555daeb6
+size 1006096
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fed9de22b9837a47603d78b8ab7d0541e0d4edfe
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec1b5b5522b167e7f8f761b902429d4d18df9f11e3c924e2c14e60e830dce8ee
+size 975928
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..94ff15872c0bf7df6cfada067c8e64aef0f6d7c5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9bf24501cd461e60eb5dfc4b7865ba36ecff508f8ef56edda0e1a225e1db81f
+size 994659
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e2055e5c0bd7fa289876f23b3cd1bf7e9c5a0d2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689f925189edd4887bc4a456c515bd7807eb928218c1000076daf9de2d4ef48d
+size 891888
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cbfe4deb6fd8e7bfbca09f55a296ac3346fae7c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee2ed34bb61026f2e9b85c70c6b98b9903a23628bb69b8aa75db92ad2cce110d
+size 892365
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..938cfc48ab620136e58890cf9f137d512f62b2ad
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a7f68885919236c28564099fcfb640f705b9491278faad63356ddf40c9b45c
+size 923396
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50184f13a862051ce5bae81ffaced15072aad534
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f266fa4663f87349a3d797d93f1c333b22e5743f052485bf7cd249f4ec6ef2
+size 946895
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2890e923373994024904b228d49ba47cafcf6106
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089c6237a1d4a5438064c8070733602f3b56a00739d52f689561d30e5cf51aa9
+size 1078673
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05a8c149fa11136c33cbe875482f41d1bbfe5030
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc44040dfb83208c817bbd6dbb9744e87cc3f57ff26f5f83a304b97aeefa3c6b
+size 1120558
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f39d0cee4ebc45d12f5260d4f464d03b5d9ad37b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bbe95fd721a2a09428d11c9697f8753e2aeaeafb57c5df2e922b6fc7575d33b
+size 1008700
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a27b0c0bce73f3a177960b9cf75f038706133759
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2485c7027ad82b6c34c979f0029de62c89135950793bbc4ec181419209ad3d03
+size 965773
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0b163670a4f880eeddc653674a769d921085223
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c0ff9fc1fdb0d002923fe1611ba105e2f0dedb5c51a24c356f25cb946698311
+size 988936
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3970baf6b53ed63613b67fc5e1bac208b7bf4e2a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb16b6264d3f1749c9b106e6824a7e672ab90f3b60f48b68dd6ade146ccf4754
+size 921119
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e154e792a764241fab6705013dd259935c7ded2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c8ecf5f8d7ac057a96d759e962c6f343ae99995d23f2fa37e08985cfeac340
+size 1547656
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9ecba1fe2cebe3b2fc7c7d9db7fdfb7d2e9ce50
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bdafdbef422380eb281b3aa2fa9f15accc079e986a84087ec54901fd9bca2c
+size 1236068
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97d9935bd910a7fee79f0fcee3075ba0d698777e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5111f5aaa3cb586859ba0ab46911e878cbc365798c636a5159fc9aa31ff35a95
+size 995195
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e76a97d86f1f5c9ac061e22d039e76a404ac5d64
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fad80153fe4969f3c9fb09bf3d967aa038819c80c8067a91ffcc6db3b079cbd
+size 816156
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a477a98ec71c87a7e98e646b1d482ad1c2346083
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752176d54ca237bec60bba956419d7e48ad9074721326856fda05f45f9e6a262
+size 972146
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8671c3aaaf3bfef18565b79f5db0690250fa94a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a1e39ef84347732a156e86cff2057cb6f7aba5608af8d4f67a96fea525ad8a
+size 827286
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6269b1e9c63fb7bef37633227f8c3828b54ae58
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f090400765adc74e50fbf3f00bc581449f707065a908f87cc256d2f3a4fa96
+size 281110997
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a16a564987e297a7d6dd422b8a47e73123ba6e17
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c745aef93e242b04269dd09481bbef43685e2335bfc20b0137559b007094437
+size 259962044
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e30327dc8fc13cc89b91c830a40134d15fcdea14
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735f383e37f09fce94b8b5cb1aae386b89794b742422a4bc22ac6f5f6a436b5d
+size 373221363
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d500f7cecad06d322ba42bb3dabc4c2f836380aa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c2167e3c1340f0170fc0f822282813dee6e704bdd58083b6c24cab7fc933b7b
+size 389223804
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68461eee2969ed87348e0544f29e058170399700
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa425f55ab928af483b7d9c5085960ffd4d420d1eb2339dd4cb9957efe2fc0d7
+size 258956506
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..578708f6565916ec46ffa60f146f186905308ec4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847b76df34f23493406f1d381b93819b9377616fa0800b86b36ffd514d3ea016
+size 327678777
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd0b0132f2b4bacb631bca95a1272a14677e308f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea73f177393821d12acd4c41feb59e2e51c3df80cd3715e3b1ee0d96b5a8d01
+size 221417326
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..167d13f02afbb215bba79f20b0a6c59c2e829398
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40382374c8e6237297401fc710854dc664693d04ba3b95b7f1ce8512e5f63536
+size 269755930
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe3dc97123aad98c4731ee2d2a05e123e1f831a8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caded6c59fd1278d8bf068dfb49cb89cec2310b0ba101436095c0fce2473b5c8
+size 264262746
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9f0c65d0aa29d32ac15bca869301d1027ce32f5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add98492b94c7705fde693798ed7430dd2daa1046475c9c0742e353a1139519d
+size 254944032
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cd1dfacc74bce8b17e9814215e69cc80e021592
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c002030d4100190c834b9bd241808cf560143cfa7cb3aa119868f16bfca4df
+size 250757371
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63436fdae150a15fa52da4ad9f772b402c2b0c42
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4a1a6ec4a16f07c0e1fd67693b514cfab277a92c23148b93e89c7ba7e11837
+size 222528276
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d11935142eac45d9cb035e7e9cb1454b45c27356
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:536f5632f5f515df9184da196a05e57adebe837c70089cd5cf844828c2e74c51
+size 333237252
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0516b43c80be98431d7e6f9d67349be0acaaf24
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd100a7d0bbbf1a4be3b0db5d5525f05c73d4c67998f362d38fe419758b8d741
+size 253785599
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15e23f2e4f4c58c2febb8a5e302dab2841819160
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c04abfa39897aebd6f7fd7345814a62a6a3f65bfaa2d80ab3d31b1b3fe123c97
+size 242413583
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23ab421a1fb93a99d358cd377945442421ec55ed
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20398a89dfe7aabe07dd65fa482ff6f2b8dbea2f483f90970d0c3d300860014
+size 257907035
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b50935cb38f8be0e74dbb8601b35720cabdef701
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:035fd9b5885a0c0bb16d43d36042af31afe638f2a566fb143876f5b132250c50
+size 246871553
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..048bcc7998b32d9be1beb50369d614d5d86d7fb6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ff18aed1899a8e8d56c1243bbc0c5a94beb02142a1d690b80a39f9574a8cb4
+size 283696201
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ed50fb9ffc67c9e50fb7378ccc0bfc43b6477c7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:045db0c0087979c15791c79735ce499fb5ebf6963f33a0978ce01bc87f162397
+size 235964872
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3b764774c62f7b1fbda0b0727dfac3353f3ff27
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701cbea11ff388bbfd80808f796680637c8dc0fe4a8e5730d6919c537f85173a
+size 223960537
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..725675fcb28d57e1ccfad9708768b4908397a9e1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9506e4109829e6c5a2f63eb727a1f76ea8f21689fd659b1dfea975b3b71915b
+size 271269253
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d196ce99396e13f373b2541a913dace0995093c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ef19a7d090e2e07c6c787e5e0631df3e4d4ce0f2c64c99c40cb29077774320
+size 267647184
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..724113f63d76d95731d42565b3d6d7dcdc29cb8a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4565f8843b305fe0cd4beef468a031bd2cc57e75697cec23c4004fa3c66b4391
+size 279843270
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9b6adc2eed3c75ec3876164853d7e094822469a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f441fe413eaae2dbed3359538dd4f0a258b5f6b30cb0a1bd8b126f70b247272
+size 278796198
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5287eaf782d07f154e202aff09ece78e7df2ad75
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d562f35d17c40834a3550452538ba71f809b480da98df742a60e06f9d60900
+size 251706559
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dabd69a4f436e4578d772cb2804600d817db2102
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b01bdced085961a5aa6318708c930b62a1c29406fb4bcf8fdcb363c850958ea
+size 232182774
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a15618987ea1a1a2d14fb1037f8a132c0b7b4622
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caf1b5fb1cc1216b4642e8a0e8290cef169fd607a508ded94844c789be03b911
+size 270538004
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63830e6820f494ca0da3182070d1f087568935c9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565556842a8c4e5b6b89211ea8ea00864d23bc89d40dd38d1936c7aa97de77b0
+size 248304372
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81860914bbfdd9160577d12a7f6fefe5d8397e13
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bec94172a05d0b5b295a0f13b4d1899ebafd67e1eac2a43493ae1ee70df3671
+size 361960094
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6364d85577cc89f06552f370db3cef787978d6c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe5ad03599bfd04c49651dfe2ddf92bbe7b70136b2c00da12696d0562027380
+size 281421087
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a93dfd804a133fdfe0531f90b38401362008163a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942bf23518e169a1d86cb7729d0b31337601de16ca141f16e23d138112a02fec
+size 258385955
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7f7855ff93a0538631ecfa42bbc419f92bb2635
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3cfcb324873ecabe71f97d0ae6526191988b786c1ef796aabdb239ad5682cc
+size 227732832
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a129adab0e77fa5708df31578924cd34f6739a8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143be0b4cbbd3bd68b8333216051899ecbc4d83f79a4b8ab46340872b27696ad
+size 275380268
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6e6693951e1bc241cf4bf88a311d22f0049b3ae
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1000d7043e13c5247a73894a4b49c8126f8acceacd3f5b103ef67027967642
+size 222311214
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d493f90b4c9f45c1dbc97dd3e09eeb845a07b2e3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abe0b528e79b32630e6c4dc28858cc26df4f81235e15b8d1495e56552aa0c15f
+size 45490166
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3eb85b122bb7f3f7eb7a4dd91b48beddbda913c3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:307747fd18d28e224f4a734e176a01e3ef62f7dc1b66dac50561b2fea623d310
+size 41746164
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff814492cbcfd9d35b9da88e639c287ce9dc8de6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4756603bbe5455b855c89d3ac613a67325b9695448f66a71b9e485f43599c9c
+size 60258968
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb5402f70bf517cf91afb23e69aa4bfae35c5f6d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4337ebfa5118fd6bd8e11a4853a3aef0b87230d07a714d559db34a145046ce
+size 61989016
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69a55f4956e75f31a5626b3bfdbdce3f45e7e1bd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8acc98c7c636a7ed4a083a4d23eb149daece8af98746e2f3cb5031b969950f7a
+size 43516145
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..445271e3010bde93c7ef7e0ae6b31922394ef6dd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb084e1d6e0da5087fc8e17b728961db396453f3eb68ad41bd8ea6432ce8dbf9
+size 52721826
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61fad21f9cfd41ef4476863c6f061aef8ed851bb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50015ffbfe9f968634bf440f4e2e5a07bebe27d4977943bac820ad14e6a3635
+size 37355268
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bc6c0357c5b15652eeae5b787978113a58fe134
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92efbfb1cc3f4d42039aa5213360a4fa7976dd89e726d69e96a179613123f172
+size 45504487
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61809248210d967db22404ed2e62e670de5a375a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1ec32e58700ff2e04b4a911a7461b82eac92c752245c839a0441aee6bb30ab
+size 44481070
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..159e5adc5df4e671c016211a0ef859b75caa4f34
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1fd7305baa883c4f6b583c0bc61f27e184be27a4efe991491ca12d0a4b37ce9
+size 43647240
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c77e81d50cbe1cd0e450fa24b135da37af02d17f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281ec6d19d8259d2dc8b9bf52edea57fc3396a130a2fdd2a0e21cb7930d6184b
+size 38866033
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ab8544768350f172c342e666da3c0c2e0271c29
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:189ce99e0e4b84e7b33a0f6bf9576cd887116c4d7beb7edc795b8278fe2fb814
+size 36683727
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59f1ffaddda8744dd62b08ea75054c271a585407
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5017e1310ec4643cf91cd9681d684a4931606d709064247aabf72a95a47a62df
+size 52690382
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7941ecbe379b8e061556c5cf75da0dcb3764b4b1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c58fdb7a2aa44c203dab143c9865c0c9cc863ecb92097113778c815d063616
+size 42491536
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ef12f11d828b58eb6d80f8f798a19c42cfde401
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69192b41e0056d028b27205eeed6ece9cb86b8683fd697f0f87abc536307163e
+size 40656699
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..801d041f33c2f7a129a29ad1aeb6e4176950d397
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8ca0c51372d833dadb4c87f0eba0ac9915d11c54507c314aaabaafefd53a1b
+size 42338047
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0ae70e0d004b1754469bfc95987bb95a1a66564
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c932b1935eda3f1a16113f60d51497600b4241e361719334fe168c7f2bd89e0
+size 40129719
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69cd9819c975a837e2daa9638a3a7c60740bb470
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e076fa5012859310f3a8fafa6996868d215a6d4d800000f078f48829f06f2582
+size 46450815
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44ee35c6459d22fec7426e9f61d93b610dea974c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f523258bbd96bb15b2ec6f7966917a63495316aaa094e5921e11ba81e5f4c6
+size 39218199
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc5ca86cef4f761c40eea564e9d458da54ff95d2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2498d8b517d3556f94d604fbbfac6a14bbd338386bea7edfc27c8dffea141f27
+size 37083069
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d6347c4ef75ba2003aa771ad060e73655764eff
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a381b60413b9d555eb3eca7e14fba4b197cee246763f314060c281f4f6d17c5
+size 43287898
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b836646c51cbdfd1e34b49e0c84af6e2776003b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e077a5e4b1b5974a46d762508b92b6e46f44f4fbde2fd916e67c8854011d121
+size 43662826
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bb373dc7b156cf19d189002f66538393d670f5d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:035e381468905caca9a6a6f1f382565a51963d0055d7a7a305419e12485c23d3
+size 46327466
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45d039ae7bda6bfb3d88101010fac9ac27140cd4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20a234b1f83ea1cd0b4cb5c914a87fb58ba9429a774b0f338b6718522053fbac
+size 44646557
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc5cef933d4f0766db1be9a3b813969a74a805b0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11808b3fe0b4fb3a39a9a0d1db8650502553fce25c4a33309dc19e8c46c4135d
+size 40806968
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0e62bcdb544acbeae61801299c6603c69556e2f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dafed9383ff45c28434db83df02e00f99fc3ecb5fbf72bd3defb72beb1f83d69
+size 36644560
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa5021ea2e85f9d450d2afc1781557e49024c9e3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384fa8dca41a6c6320faf4cace09f0e7049673dc440af179bce6189c9bbbbb8b
+size 43673437
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bab42c1d07b87c42629bcf319ad301bff09db5a1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de3eb41ad3662189eaf7d25e5ba18306e01677f010057c7e62f82f4835d4313
+size 41560938
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40cf321dfb0a8fe19e9dc9ada3a1fd26b05e135f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50612058d962081ab11a0424400cb02fa109e619306c05013feecd0070a1d43e
+size 58825641
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e76fed8b6a638c15ae200b3aa381f9915503bb9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e407d9307f44c24881e2e75dd179c8f7b115936ec6654f1898b6c1a01d0176ca
+size 46496537
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65a198195dad1a4fea2d35abb328dd245fcd51ce
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2389bef8a32540aeb00669f8b14f53f33ff403c52c951e8a5f59f86cdd8a8e8d
+size 41141613
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aa5253fb4000b5803960a351ac2faa29b0a7423
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aaa70c25c8e40f21b87c4516a49e24c7fb420ba280e11cf8dcc357f543e55f7
+size 36817692
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60de0349f1d4c90adcd86482efef7022d8fdf89c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3504d48c83072006c84f1156915b5c83aa44ba47ae359c83299220d367a29f70
+size 44667472
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5920d4c19caf0855687ef4700f0a908dde567456
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3319e622e8854b3f41bba0b599f6caf39b5da4ee83de00adcb1605cb879ccaf
+size 35929129
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73e3fa70d8bdf0521ba44ee41925c0381b5315e0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03defa36b4fb0ed50c373e0257a20680f5ac976a3f0b0903a27cec7c2cf691c0
+size 49348170
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9694cccdda6e367463c27e19d233b17c8b36140d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28e7b4d4cd808e1107244b52758c696210032e6a11460a88ed62e951d51d86c
+size 45045641
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5343148716aa1fedec4c71a91293199786cc14f2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8526f22cf7ea67998d172eb26e84d701d780114b39e34a7243bec2cb2c4c141a
+size 65756430
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39ba7631f09333abe405379e8c2844e352fc404f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b7b737eeb5a73eec6be21ed5b1356364ac5b0a869bcb6d0640e5b11ff53d793
+size 68409570
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28f884301f131da21a9cf5176492bd1bb516938a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748cc644f34916cec083771b6bccf22a11c61847615e3e2ca5f4b5890687cc73
+size 43767663
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55a22c475d39d818b25ed198f1410e011d2b0ced
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fb7b9d0ab235da6689af9c0be04c3899985d3800b0a0ccd4e06fbf4e72e8d5f
+size 60534960
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e6065ecd196617dc398dcca6f5b1cfd0b5430a6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023b5ac76abdf9d399810581b9a221007be50508693f3cd8495766a7582d52c7
+size 37940646
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4ff54d5ddc5678c82769fbfe17844d2a8bc83af
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4866cf2312c1aafcbf27b58296586dd0a540019b1ab55a30ca179b92295d5585
+size 45230819
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbfac9b45f406757d9d9a5659721949c735ac614
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c41ee4130a05cbc527c0158c818db3c13894c55a3bb491574f4692659b04559
+size 44934988
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fe29bfea4d39032fe1a0326a7b8bfa813a3c327
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3af381494681fdf98fd91171f22c9fc7fd6d3b87209ef8a3271e4417056919b
+size 43215014
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ed4790a4678eacb92bbdedf1d10078f29e9ae92
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88f59a0b9d2c699cf4ec67789e910847e07e7a1ee7fe9c770ca54ae8490412f
+size 46014045
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfe166460a0742491decc52dcd2bd403eaa49bd0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54d449f0daf2623fdcb134df048258addc5fd679fd36fe919e93bdcfc2559fea
+size 38592449
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..510f65ebdb7fa6a6f6ab1bca373ff2f8d738f5f2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6642bf28d074e47974288eb636bd633d6f20a6a5b87d4224cf9e7d6f01dd79
+size 60152038
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fd6e1b93bfaccfd1b9342b13ee35b1141d56c4f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a478514c5d496b403a62593b29066855b6a5cccd4b9530822605d035078fe13
+size 44196465
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6501a3591875136f7095929284e18469d1580ff5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1db13bbdb083401e4b7d1c0a2868018bfeb69268086942cb8349adafb0afa42
+size 41567188
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6678396beb36042b1ddcd7b9ba2b0ccc7581c4c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:914029ec406e5e81f6c28965c7da9371f6316c398cfd1734f9ec7166e66595ff
+size 44929145
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e871427299ca12cfc57b882dbed767d1e07fa08e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4708985b7eb5ef87d46ecfc1d33b6d6ad83d58251e175230cf6f5a03d50444
+size 42991346
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6bfcc7bbc015aa8c983617824c03843686743ad
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3902518c07be92e6d7fd02e42fafdd2dde010898b3cce9a73ef1cf11216b22b8
+size 49547006
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b1e1b38bfba39ecb0334e9a959a1dec9bfb5a33
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a203b3c224e906c40678ed099efc0c2c9f76bf1343afe7b95f5688e14850f4d1
+size 40729317
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffc891a2215f48987e8103c0246e7756c6f6d25a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca0a1ddf00ff32e49655f83c20b87d0afa0f3c51a230dbdce18b5cc66dd0df8
+size 38792283
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f964c2f04dcf4553f42cc3f26711ba4bb2d1de5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79bee2684a7695de1adc4f9b89207a0e0cff93982c33e5d39d9387c2a9965368
+size 48005830
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40c7e057871a64f441de133ece4d0f7ca0fab926
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda0f2d43d3c20c447854080e1abb8de93ed1f81f822b216cd111cf6fd6ee713
+size 46566581
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aaf099ead84a598dffa9f360e0c1c1232c4b5423
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da77060a7e273bee3f34216594d27df250f3a650c51a268da66680f6c0cb42d9
+size 48163020
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c594dba447078670386942330f0aacadf6739ca
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123a363d1507434e970469fc322761997b7ae929d48135c951e1ce60e7c47167
+size 49836907
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af2e89e77b1e8bb5ce395829b2938c2916db411b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b981ecaa06da3c497ca7bf31603516d107555fbc3901ecfa0c702a10390bc825
+size 43376116
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aadf3063b9a1969b3e9a57ce0036429aae19cf55
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03cec7674dc64c3b0c235f836fa7b576a35ec3850d1478bab47f6c324204d826
+size 40508413
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf01a3056d60fc75850c7c49ebf38146c7bf18c1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3fe56b03dfec9d8e171fc8e73fc30c4577768579a7d43af3f4089f4d78ebf9b
+size 47511991
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e54cb8aa1ea7ab180503c3ff75ab76b6a0fb363
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965bbb4d8230d9bd3b533e3c2f57b56253ee6d351df94912063983d2650dc3f2
+size 43833006
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..165c6697d47f73334f707f7dd0abd138a97971c2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ddc049c3b710978e7b4d72ae5454486a8e6b1f6750383bc0aa52c9703e28e51
+size 63343800
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b1412b2a5d8e019e88aff28a76fc71da87eed3a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b188186b993a2047cd23e11f3aff973ec493098159ef1de79b313171e6e5846e
+size 49979887
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ff8ddc5ac89d68061636a62f98a38b94a9d13c8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1fc527ca9948988c88ff42a1394467627fce6e02838303fe74f97af793cebf
+size 45796134
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8e810dc3fc42e05fc38756d9e2f37ac32866dc7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f7ad08954a85899beefa0f2e4a05badaa07fe23ec8f59fc5e148c020f50bbf1
+size 39870261
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74a6abcd4febb63a049431b46b3f4419ea18c81b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a232352c3f49703704a3760c8f22cdb049f66389de2e53c194b1e40aea062d2
+size 47939145
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c10c9234ee57219519984cceb4147efac471645f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ddd76e35940c3645c371d381a5da8c22f7a2673cb09f4089c77b13c9d2ef90c
+size 38969167
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..583854de788924016a05e7c80aeabca0344b108c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c829144235d399fa933056a337dec7912298b1296f17745ff513bda2dc2a436
+size 104586045
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/data/chunk-000/file-001.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/data/chunk-000/file-001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d8a2ea70d8fc2ab91ec63e999a2446e21f3a165e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/data/chunk-000/file-001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e8a6cbdbca4e786093bbfb8373e4bfb79c5262a903e4769d7f6aa58ff734b0
+size 2590801
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/annotation_cache.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da573eb84be8cd6ae169b86ac75ddda0988e5b93
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -0,0 +1,34 @@
+{"source_uid": "feeb6a63426dcda1", "num_frames": 2414, "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "5cf8fa9c-8f57-4fa3-a437-725413e2c8b4"}, {"label": "valid", "start_step": 0, "end_step": 2381, "id": "3s4rTW6tEJtgOk3gDWik5"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 153, "end_step": 332, "id": "12f3b6c7-80dd-4a00-8e21-d05a56c99e72"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 333, "end_step": 604, "id": "30a98191-d8dc-48ee-a7a2-6a06a8a50451"}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "goal", "start_step": 605, "end_step": 816, "id": "abdfd6d6-6680-46cd-a81b-2836207e1d47"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "goal", "start_step": 817, "end_step": 916, "id": "00619ea9-03f4-4a87-91be-a4ea5996c172"}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "goal", "start_step": 917, "end_step": 1066, "id": "63684d0a-cb1b-4cd6-af88-a4390f960cc7"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "goal", "start_step": 1067, "end_step": 1144, "id": "4fd517cb-0ddb-4a17-90e7-46f3467d9401"}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 1145, "end_step": 1294, "id": "f9f4476b-6c5b-4672-8e38-05cca3c1d426"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1295, "end_step": 1370, "id": "0644c07f-64f5-496c-8a7b-1c373eeba1c8"}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "342c819f-ae54-43be-b6a0-8e6fe5fa97d3"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1515, "end_step": 1576, "id": "01e1dba4-6bfd-40ab-b288-8eb3264909c5"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1577, "end_step": 1702, "id": "f51df855-e08e-46b3-871a-5eec83aa8135"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1703, "end_step": 1782, "id": "71d2f72c-e1a0-417f-8f10-85fbb656e8fb"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1783, "end_step": 1924, "id": "797f7ede-768a-4591-88df-36ebb5491b13"}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "goal", "start_step": 1925, "end_step": 1990, "id": "aaba36c0-0d81-4325-8c52-a516512581b2"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "goal", "start_step": 1991, "end_step": 2122, "id": "bf72dc8b-371b-4c2b-a150-594a9d05277e"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "goal", "start_step": 2123, "end_step": 2196, "id": "11ac9388-aa36-4038-9c24-190a2ba2f8cf"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "goal", "start_step": 2197, "end_step": 2344, "id": "81f43a9f-019e-4ff9-a495-c575a4443849"}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}, {"label": "home", "start_step": 2382, "end_step": 2413, "id": "FEcmWbtmuZsoNwVW9-G36"}], "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}], "episode_index": 0}
+{"source_uid": "a0c3fdd16c548908", "num_frames": 2231, "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_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "70e6e44f-5ffa-4fba-9b21-0eb49168d010"}, {"label": "valid", "start_step": 0, "end_step": 2196, "id": "knFtldoanELG3arpsfZnf"}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 252, "id": "589dc0f3-787e-42dc-88ea-4fb996e53051"}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 253, "end_step": 324, "id": "c37cfdac-3cbd-4e6e-9c57-2e2346b1df32"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "goal", "start_step": 325, "end_step": 468, "id": "50e7fa64-be59-4ed4-8577-f428c8864696"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "goal", "start_step": 469, "end_step": 538, "id": "ea91f42a-bcd9-4a7f-b1ad-b8e5c82b079e"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 539, "end_step": 682, "id": "1672d8ba-5a2c-4386-97b4-abb535b768eb"}, {"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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 683, "end_step": 748, "id": "93a14d33-a770-4730-920f-8235e284f24d"}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 749, "end_step": 916, "id": "c44133f8-46cc-4390-bfce-5ccb7486292f"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "84a560d2-9f74-478f-ac23-c9b9067975b2"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "goal", "start_step": 987, "end_step": 1262, "id": "c9f22f0b-81c6-4014-b0ea-80ba63d4d525"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1263, "end_step": 1346, "id": "0c84eeb7-32d3-4cca-b215-501cfe9f2aa0"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1347, "end_step": 1462, "id": "e60a93dd-9783-4b0a-819c-95f372d1964f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1526, "id": "d6d5607c-695c-498a-b953-c8ea6707276f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1527, "end_step": 1670, "id": "f27edf5d-61c4-4a23-bebc-b6154fbb25df"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "c4373a07-4e00-4987-9310-7c32ab0da5d8"}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1741, "end_step": 1864, "id": "8f5d4d6f-a165-44c4-93bd-867759ec0662"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "goal", "start_step": 1865, "end_step": 1928, "id": "388dbe13-caac-4087-9a64-e654d6d2b82f"}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2164, "id": "4cefa2ac-56ec-4ab0-9161-230b0ee7bf89"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}, {"label": "home", "start_step": 2197, "end_step": 2230, "id": "BtTBlLohmUa4617_x8K-5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the 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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}], "episode_index": 1}
+{"source_uid": "31ce23b3576bd81b", "num_frames": 3203, "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "9c9d186b-a501-4371-8640-720c07f8b5ab"}, {"label": "valid", "start_step": 0, "end_step": 3169, "id": "Iu3B5wMBVGcANyNcmiv9B"}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 113, "end_step": 272, "id": "796491c0-8206-4be1-8e0e-0a233824453b"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 273, "end_step": 330, "id": "e92c63f4-85b2-4651-b7d2-b28046d532c1"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 331, "end_step": 898, "id": "ec3feeaa-b67f-4aed-aa62-be39c9ae8370"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 899, "end_step": 1076, "id": "3923ae2f-afee-4920-b4bc-3dc500be2200"}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1077, "end_step": 1244, "id": "7a302ce5-afaf-4d7b-88e1-fbb0ac696a4c"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "ca2ecec1-ef61-48eb-bb5f-534b3d19ac03"}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1341, "end_step": 1472, "id": "11ae9ce4-164e-4cbc-85da-d89956701924"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "goal", "start_step": 1473, "end_step": 1548, "id": "85d7eb75-bd86-4bdb-8bfa-d9c1d55ae6a2"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "goal", "start_step": 1549, "end_step": 1722, "id": "b1d5ae41-7d5e-41e9-b462-6ac9c01f41e9"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1723, "end_step": 1804, "id": "64f5bde6-8945-4e91-9a3b-b0a1158054d7"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "goal", "start_step": 1805, "end_step": 2096, "id": "6092d6a8-a3fb-4992-a557-2253ec839add"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "goal", "start_step": 2097, "end_step": 2168, "id": "3566ad32-ecec-4066-832b-8677c7f789d0"}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2169, "end_step": 2376, "id": "eae728de-748e-4709-9f46-46e6a33504fc"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "goal", "start_step": 2377, "end_step": 2458, "id": "897eab07-15be-43c8-bbaa-11aaa005878d"}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2459, "end_step": 2688, "id": "267cbfb8-f7ac-472c-9527-fc5b452ab24a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "goal", "start_step": 2689, "end_step": 2794, "id": "0f040ace-e184-4636-823c-aff13951b8cc"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "goal", "start_step": 2795, "end_step": 3134, "id": "af04ba09-9aa0-4a30-8d22-724c60a97488"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}, {"label": "home", "start_step": 3170, "end_step": 3202, "id": "w7IZbLQVVms2cRbplcjtD"}], "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}], "episode_index": 2}
+{"source_uid": "f88c07571895f118", "num_frames": 3338, "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "f7aa815c-94ca-401a-a68d-d6164505d3a4"}, {"label": "valid", "start_step": 0, "end_step": 3304, "id": "9ArBaI4R2PPnVrr7ZaXbk"}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 127, "end_step": 252, "id": "c6efb3a2-7ddc-4a20-8885-269c96674354"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"label": "goal", "start_step": 253, "end_step": 336, "id": "cf023dee-3e84-4bd0-a337-1417a30412fa"}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "goal", "start_step": 337, "end_step": 462, "id": "2f75c9f8-4ff0-4dd1-bafe-45bcba0ae05e"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "5616f542-f3fa-4eaa-9983-f4245f662c40"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "goal", "start_step": 539, "end_step": 672, "id": "dde5c213-6674-4ae0-aaa2-b067e50779f0"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "goal", "start_step": 673, "end_step": 756, "id": "47b8093a-4a88-40b7-a932-f0049c3ca3f3"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "goal", "start_step": 757, "end_step": 904, "id": "af8a1935-7083-4549-a17a-4b3a89f07fdf"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "goal", "start_step": 905, "end_step": 1012, "id": "c407210d-48bc-4480-ab0d-a633234a5528"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "goal", "start_step": 1013, "end_step": 1192, "id": "b2b2a519-9442-47b5-80f2-f3477470ec2d"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "goal", "start_step": 1193, "end_step": 1300, "id": "e50248b3-9452-48b9-9378-9e66afd7ffaf"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1301, "end_step": 1488, "id": "5c61735f-9285-442d-a9f9-1e854cdf58d4"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "goal", "start_step": 1489, "end_step": 1680, "id": "efc5ffe1-c3b9-43e4-81ae-476cf56bf143"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1681, "end_step": 2000, "id": "cb50b0da-d458-4956-9a6c-056b8aadf2a6"}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "goal", "start_step": 2001, "end_step": 2124, "id": "2079f41d-eca5-4d52-b479-e9ec22e0ab64"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "goal", "start_step": 2125, "end_step": 2768, "id": "d5d50ff5-2ea1-4371-8779-c5f00c557984"}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "goal", "start_step": 2769, "end_step": 2858, "id": "f014a59c-55bd-4375-9fc0-df76c64143a7"}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "goal", "start_step": 2859, "end_step": 3268, "id": "78641857-d5a3-4547-8a56-d552c31ae65c"}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3305, "end_step": 3337, "id": "oAY9VdfNCIO-L338fW4Pm"}], "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 3}
+{"source_uid": "3eb8c376a146752b", "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 206, "id": "76920780-e1cf-4632-bed2-5729fae29f40"}, {"label": "valid", "start_step": 0, "end_step": 2190, "id": "rFarbcaMUEJ4eKwrZ2ilu"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 207, "end_step": 388, "id": "7400a031-c386-4c66-b1bb-be02432d9a36"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 389, "end_step": 506, "id": "b9a94684-bc8e-400d-a89f-0ca9a36b36c1"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 507, "end_step": 644, "id": "b281ca2a-099c-4c57-bc28-5dc47ce83e51"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 645, "end_step": 728, "id": "484cd979-ffe1-4435-8aa5-b4cef10b8c5a"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 729, "end_step": 862, "id": "9884f2dc-7155-4828-a151-9ebe6ee1849d"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 863, "end_step": 930, "id": "3295f31b-88dc-4847-a3f2-0238666f5c25"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 931, "end_step": 1096, "id": "17e82990-c4d0-4b75-b229-1d48068c9fdb"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1097, "end_step": 1168, "id": "faad3483-eea9-4d27-bab1-4afaa84e82cc"}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1169, "end_step": 1296, "id": "e37a2b15-2d1f-469b-947d-001ae8fa6d21"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "goal", "start_step": 1297, "end_step": 1368, "id": "a0b4316c-2099-4bcd-a0b0-8abfb0783edb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1369, "end_step": 1540, "id": "211e7df9-690f-4d51-b28c-98c66ed1e5e6"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1541, "end_step": 1594, "id": "816192e5-ab31-4090-85d0-813c26fe8a52"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "goal", "start_step": 1595, "end_step": 1714, "id": "366290fa-1fc9-4f8b-b8c1-df0bf3207f34"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "goal", "start_step": 1715, "end_step": 1782, "id": "9c56dd1e-5f70-4bec-b1c1-103513749add"}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "goal", "start_step": 1783, "end_step": 1920, "id": "7132cb86-232e-4fa3-bad8-ce2d02f1f704"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2000, "id": "269b8d2d-4e25-48bf-beb8-6c616c83a6f5"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2001, "end_step": 2148, "id": "1abb5ee2-9486-4fc6-a2b2-f996f840000f"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}, {"label": "home", "start_step": 2191, "end_step": 2224, "id": "SMIHwW2X8c3qTkU1jZI0e"}], "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 toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}], "episode_index": 4}
+{"source_uid": "f9612b149378ec6b", "num_frames": 2812, "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "d2ab2afb-e33e-4bde-9aef-90242845d9b0"}, {"label": "valid", "start_step": 0, "end_step": 2778, "id": "rCTFFYJQDXRmr3ypYMVaf"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "goal", "start_step": 129, "end_step": 264, "id": "34edda0d-846d-4a3e-8f09-df0f3e4dbb13"}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 265, "end_step": 406, "id": "58f9832d-90e8-4119-b70f-88a3a547ac5e"}, {"label": "subtasks", "start_step": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 407, "end_step": 572, "id": "2e4adf39-6107-4723-8f1d-92e4e13d49f5"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 573, "end_step": 640, "id": "c36b9624-8323-4458-ad0e-88a3ebf332bd"}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "goal", "start_step": 641, "end_step": 766, "id": "00300177-62b2-49f9-87cd-f65849f82308"}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 767, "end_step": 836, "id": "e29f713d-1bcd-451d-bb39-49432bce0018"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 837, "end_step": 984, "id": "1501826e-a5b4-402b-a311-82d012fa540d"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1104, "id": "9707b1a6-7ea7-4226-8fca-29c2846dc7d1"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1105, "end_step": 1244, "id": "e929f48e-9bbe-44b3-8a0a-31c8f9b82c85"}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 1245, "end_step": 1306, "id": "dfaf9d0e-bd0e-44be-9f7d-718098b48050"}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "goal", "start_step": 1307, "end_step": 1842, "id": "1ae042ff-8783-4da0-b7a5-3e83fde456d5"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "goal", "start_step": 1843, "end_step": 1930, "id": "03a5a348-846e-492a-af16-c3627e68962a"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1931, "end_step": 2270, "id": "4f101075-1e38-4ac7-94d7-e29e23904b24"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 2271, "end_step": 2316, "id": "d7acb861-f188-4692-b743-cd8a2c1308ac"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2317, "end_step": 2480, "id": "c7b32b7e-3b73-41d8-86b6-93dffdac8e88"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "goal", "start_step": 2481, "end_step": 2548, "id": "82526737-e4ee-4215-8360-8e82c259c863"}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2549, "end_step": 2734, "id": "1c7cfefb-7bd5-486e-8c9f-1857d48c040e"}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}, {"label": "home", "start_step": 2779, "end_step": 2811, "id": "AV2cOuOkro6pJXTuyEiLZ"}], "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}], "episode_index": 5}
+{"source_uid": "f2f603a07c808a79", "num_frames": 1899, "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "5bd7b8e7-200c-4bba-967b-0c8940022552"}, {"label": "valid", "start_step": 0, "end_step": 1865, "id": "y03g1rI5dReJQYHB7jBas"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "c247f88d-b296-4367-8b76-fcfe6494f651"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "goal", "start_step": 273, "end_step": 374, "id": "a55a8d77-520e-4839-b8e0-80d921c6c9e3"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 375, "end_step": 502, "id": "3bea8261-7b2a-450e-8e01-35b8f2570d65"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "32c3d569-ca27-4434-9a3f-2824cf22f7fb"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "goal", "start_step": 577, "end_step": 684, "id": "4a4ac891-f952-44ad-b632-f3e5aa8e6ccf"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "goal", "start_step": 685, "end_step": 742, "id": "05bbb994-b551-4ed9-945f-503fb33c6f38"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "goal", "start_step": 743, "end_step": 854, "id": "5b31e4a4-9626-4d69-8235-4826be4d4c90"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "goal", "start_step": 855, "end_step": 916, "id": "517f9bea-3f08-4596-a64d-125672078394"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "goal", "start_step": 917, "end_step": 1040, "id": "4c69bf81-d703-48a2-bc3f-fa6e0c3f9167"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "goal", "start_step": 1041, "end_step": 1090, "id": "8a4ab72b-8d2d-4f51-89e6-11773306b704"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "goal", "start_step": 1091, "end_step": 1212, "id": "b9c448af-a132-4c1b-a98d-dd8817c7ac5d"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "goal", "start_step": 1213, "end_step": 1273, "id": "7137fadd-aab2-4886-8934-3532ad8ecf83"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1274, "end_step": 1425, "id": "8045d729-81e0-4573-8321-c102074f90a6"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "goal", "start_step": 1426, "end_step": 1497, "id": "91ab85b3-e664-4c7c-aa37-4a99ddf4c86d"}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1498, "end_step": 1627, "id": "5f84c7a5-7329-426f-9bdf-897d11094a8e"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "goal", "start_step": 1628, "end_step": 1682, "id": "ea57fa54-a9c6-4c29-af46-a73d8901ce99"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1683, "end_step": 1832, "id": "cea25fff-e820-48f6-8608-1113a280b9e8"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}, {"label": "home", "start_step": 1866, "end_step": 1898, "id": "lDl1rQ_pb5bH_JfSzqC7M"}], "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}], "episode_index": 6}
+{"source_uid": "4725bc20307b68e8", "num_frames": 2313, "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_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "c0499bae-6416-4d2f-9d33-e990485054fe"}, {"label": "valid", "start_step": 0, "end_step": 2280, "id": "LgFGVPjby_xGHu4iIP1hr"}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"label": "goal", "start_step": 115, "end_step": 236, "id": "553aebdb-2c41-437f-b12f-217742e01d34"}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "goal", "start_step": 237, "end_step": 300, "id": "35b8575d-6d3e-4d92-ba6b-d66f0684024a"}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 301, "end_step": 428, "id": "799b3653-86f0-4785-ab9e-ac4aa5ecfc79"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "goal", "start_step": 429, "end_step": 494, "id": "73ffdc46-9738-44ef-a13f-0d525174f261"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 495, "end_step": 628, "id": "c1250521-cfc7-4138-b124-422df7717a22"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 629, "end_step": 704, "id": "95739424-834b-48ae-9e32-fd1cbc08e4f5"}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 840, "id": "dc40c019-50f4-4a11-9ecb-4f4eab85f4b0"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 841, "end_step": 910, "id": "46b460d8-0a68-45a8-acb8-6fa14d98db23"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 911, "end_step": 1042, "id": "c80fd75e-e211-4f25-8ef8-961cff308897"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "goal", "start_step": 1043, "end_step": 1106, "id": "ea04d9f6-6926-4b19-a34a-b25454fcf6ec"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 1107, "end_step": 1278, "id": "b2f7712f-3342-4b46-b294-10e816e7f080"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1279, "end_step": 1356, "id": "87f4c209-1cdd-406c-b683-6c24554432c9"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "goal", "start_step": 1357, "end_step": 1476, "id": "e5319563-7663-4613-9297-c73cb5a58344"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1477, "end_step": 1702, "id": "966dd3ce-38fe-4933-97cd-bf5f5ae42b0e"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1703, "end_step": 1918, "id": "00daf765-e040-4f6f-bb40-13e2e13bdd67"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "goal", "start_step": 1919, "end_step": 1988, "id": "9d1a9e9c-3faf-456a-8827-ba54b0b8f379"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "goal", "start_step": 1989, "end_step": 2240, "id": "6e668818-b4cd-4610-bf5f-0a19e2ec0a6d"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2281, "end_step": 2312, "id": "5ZYpNqcBmUMS9YfLTEwPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 915, "end_step": 929, "id": "reasoning-language-00029", "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 upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}], "episode_index": 7}
+{"source_uid": "de63a19283a52074", "num_frames": 2268, "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: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "5f24c1fd-5251-4d7f-9538-6d080cd75a2a"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "4snvr5FY8zirJXOn8yD8x"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "c41ed086-caf6-42e1-ae29-adf169c2379d"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "goal", "start_step": 263, "end_step": 318, "id": "91f08658-ec06-4763-be91-26cf17747d7a"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "goal", "start_step": 319, "end_step": 440, "id": "ee787952-a4a5-48d4-bc44-a19139b57cd7"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"label": "goal", "start_step": 441, "end_step": 508, "id": "9e30871e-6004-4386-94a5-aa93dac631c1"}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "goal", "start_step": 509, "end_step": 636, "id": "5fcd9456-7f17-44d6-9d93-8ca6a2be3e32"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "goal", "start_step": 637, "end_step": 690, "id": "ca662b34-b709-443c-b047-755d6f48b6c2"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "goal", "start_step": 691, "end_step": 898, "id": "bfbedeca-35ab-4559-b8b6-7b622e1f2bef"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 899, "end_step": 968, "id": "f1a62489-5c5a-4975-8eb3-8244706afe49"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 969, "end_step": 1096, "id": "ab74144b-1082-4858-a125-c47ddd9c6e16"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "goal", "start_step": 1097, "end_step": 1166, "id": "6e36c7eb-998a-4ddd-aac7-bc5aff904a41"}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1167, "end_step": 1340, "id": "a5c9c466-6a11-4aa0-9492-f451a5e37667"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "goal", "start_step": 1341, "end_step": 1412, "id": "ff30526e-d82b-4207-9eb1-5e464b9b0d9e"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1536, "id": "b03bc50f-49a9-48c6-81f1-8926308dfe5b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "goal", "start_step": 1537, "end_step": 1606, "id": "c2c64cce-c124-4188-8ce4-2e7910c82c27"}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "goal", "start_step": 1607, "end_step": 1728, "id": "6469a593-68aa-4ce3-bdb8-f77cc993bf84"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "goal", "start_step": 1729, "end_step": 2042, "id": "8176d90c-6b77-4119-8d07-fad79a25ae5d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "goal", "start_step": 2043, "end_step": 2204, "id": "73620ded-55aa-4990-8028-feea7b22d9be"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}, {"label": "home", "start_step": 2236, "end_step": 2267, "id": "-_bG7owt4Elo5D_Og-6tw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}], "episode_index": 8}
+{"source_uid": "20cf0f55485f3e96", "num_frames": 2190, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "goal", "start_step": 0, "end_step": 131, "id": "ec0a8284-a74a-46cc-99fb-b202960ffb1a"}, {"label": "valid", "start_step": 0, "end_step": 2159, "id": "SGAETsWYjMtsLL4mro4kR"}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "goal", "start_step": 132, "end_step": 317, "id": "808eeb64-5bbd-4dc1-93cc-8c5ef6320b1e"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 318, "end_step": 403, "id": "f59b4878-ad7b-42e8-a895-d27ce9653626"}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "goal", "start_step": 404, "end_step": 541, "id": "9421a49b-7eb2-427c-997d-08f375d6cb9e"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 542, "end_step": 651, "id": "b480a561-9281-499f-b6e1-dd38e7c6148d"}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "goal", "start_step": 652, "end_step": 805, "id": "31aa75bc-7698-44dc-8788-d5529054470b"}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "goal", "start_step": 806, "end_step": 885, "id": "93aa7cfc-ef90-454c-8e28-74b7aae4e9cd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "goal", "start_step": 886, "end_step": 1055, "id": "19cda1a2-1940-40ca-8d02-f182ac86d370"}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 1056, "end_step": 1125, "id": "908ef127-4ceb-4bf2-8354-e1c5cd20233e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 1126, "end_step": 1275, "id": "40831c15-836f-4a75-9f33-c681568a6131"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "goal", "start_step": 1276, "end_step": 1343, "id": "540b14eb-2681-4b6c-a546-b05d1ce017cf"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "goal", "start_step": 1344, "end_step": 1497, "id": "aad94708-4b29-4925-92fe-7d8dc14997d5"}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1498, "end_step": 1575, "id": "c0678055-9528-4efa-916f-bd22cebc3933"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1576, "end_step": 1707, "id": "57d549e9-811f-4f38-9c8a-b9ee2215f8e8"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1708, "end_step": 1775, "id": "0384ec77-d96f-4dd4-a6ab-d41f31257aa1"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 1776, "end_step": 1889, "id": "462ad151-5272-43d1-b3bd-59c8e704afbf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1890, "end_step": 1969, "id": "6e0a19ba-5add-4f84-92ac-784065fc9c39"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "goal", "start_step": 1970, "end_step": 2129, "id": "ab6484b1-93ab-4572-9ed1-46d7b8f9aa0d"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}, {"label": "home", "start_step": 2160, "end_step": 2189, "id": "oF46G2MdRKFXqWrBvEf1h"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}], "episode_index": 9}
+{"source_uid": "4e73e40859ba5a55", "num_frames": 2153, "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": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "1c406381-180a-48b5-ac96-4f57a238204f"}, {"label": "valid", "start_step": 0, "end_step": 2118, "id": "mTo3Z4vfe_gjIWlrw62S2"}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "9e2fdb67-957e-4753-bf77-893e232872bd"}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"label": "goal", "start_step": 263, "end_step": 336, "id": "619e621b-dc14-4e02-a7b8-22adb38628eb"}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 337, "end_step": 474, "id": "ea268527-e294-476d-b117-221b26abf21b"}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 475, "end_step": 560, "id": "b8f28524-b61b-470e-b5e0-0f3c705a08e9"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "goal", "start_step": 561, "end_step": 700, "id": "bc21b1eb-0b72-47b3-938d-9d7ef7616515"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "goal", "start_step": 701, "end_step": 770, "id": "f1443ce1-9f5a-4c25-be9e-e0eedb708190"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 771, "end_step": 892, "id": "6da482b8-eb19-4575-8640-e712d88096cd"}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "goal", "start_step": 893, "end_step": 940, "id": "15a820d3-97c8-4318-8ab3-39ffa7b3a808"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 941, "end_step": 1110, "id": "da9a4477-0ab3-4212-9433-cca1a317bbf6"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1111, "end_step": 1178, "id": "26188c68-b913-412c-964c-533af839ddaa"}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1179, "end_step": 1304, "id": "ca85693b-6735-41c0-81e0-854ff6c5a0b0"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1305, "end_step": 1380, "id": "bb94d764-5c25-4251-afaf-2d83bc519f23"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "goal", "start_step": 1381, "end_step": 1492, "id": "016e052b-4652-4f1e-91ef-ead1a86d86e5"}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1493, "end_step": 1542, "id": "64b5ae5a-af41-461b-917e-24c168306dc1"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1543, "end_step": 1828, "id": "f2fe4ee2-cae8-4de1-bfb4-7e7f00245ac5"}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 1829, "end_step": 1900, "id": "ffde345f-a08c-4102-9227-fedf6cd50455"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1901, "end_step": 2080, "id": "8c1ea5b0-8e5f-4820-a6a0-12eb4b87930a"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}, {"label": "home", "start_step": 2119, "end_step": 2152, "id": "l-zHwHxWxLScDUi_IT7ES"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}], "episode_index": 10}
+{"source_uid": "eb3106b747608e30", "num_frames": 1913, "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "02881dfe-f01c-4928-87dc-bd727633bebd"}, {"label": "valid", "start_step": 0, "end_step": 1879, "id": "oB95DqVw5qdnrhDwynOuE"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 125, "end_step": 250, "id": "002aba7f-8c8c-4d2c-aa2e-6299147e29b8"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 306, "id": "07a4da69-13ac-454d-bffa-e84f412994a9"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 307, "end_step": 412, "id": "810343a4-411c-4369-977d-4e58ee4bc888"}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "8e5f1d89-245a-4430-a7c0-546f5cb52857"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 485, "end_step": 602, "id": "52a7cda8-2584-4742-85f0-ed64ce17ee79"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 672, "id": "48031adc-9d56-43a1-b295-0b9171a38cf5"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 673, "end_step": 780, "id": "e2bc82cc-8109-449e-a3a1-a553b56000cb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "goal", "start_step": 781, "end_step": 838, "id": "404b4946-e614-4c45-b534-036cf65def3e"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "goal", "start_step": 839, "end_step": 946, "id": "4c18154f-d65e-4fdc-99d6-cf2b019d2f9a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "goal", "start_step": 947, "end_step": 1027, "id": "ed404359-5730-4fd3-b586-5fe4cda71a2f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "goal", "start_step": 1028, "end_step": 1149, "id": "8d66f271-e06f-4518-bf39-4dfc11f6aa81"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"label": "goal", "start_step": 1150, "end_step": 1217, "id": "a06d88e0-fb6a-4887-81ed-2295e469acb8"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1218, "end_step": 1341, "id": "0a722039-322e-40ee-94ef-f0e67d579e3f"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1342, "end_step": 1389, "id": "4a11f1c6-0cac-4114-baab-b6f3be4974f8"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "goal", "start_step": 1390, "end_step": 1615, "id": "a9f4fc36-096d-4dd4-a553-58230d2caa80"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1670, "id": "a27b9cd5-6749-468f-80ea-10f4fcc96a1e"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1840, "id": "eddc1451-450a-4dd3-981d-cd401f6d3ae2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}, {"label": "home", "start_step": 1880, "end_step": 1912, "id": "VriRrtEIwEpmLqO5h5FUY"}], "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}], "episode_index": 11}
+{"source_uid": "ed4435a753b3fa7d", "num_frames": 2861, "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 slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "3604304a-21e7-4e23-a9b4-973dd3f50c6b"}, {"label": "valid", "start_step": 0, "end_step": 2825, "id": "ZUwC-x4TJteRGUR2csokV"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "goal", "start_step": 129, "end_step": 242, "id": "7a6e7f16-ee32-4ca4-a493-81324756a62f"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "goal", "start_step": 243, "end_step": 302, "id": "2badc2d3-18ba-4159-8e89-b291292f6d18"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 303, "end_step": 448, "id": "e9bd8b57-2a8d-4d91-be56-c425b9d9d14d"}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "goal", "start_step": 449, "end_step": 536, "id": "7d92a177-4090-4bc5-a33e-1b063bd89c38"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 537, "end_step": 736, "id": "0eacf741-4072-4390-a138-cc190eb6afb4"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "goal", "start_step": 737, "end_step": 802, "id": "e4b2d993-3e1a-41de-b7eb-3a6aa280ffdd"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 803, "end_step": 976, "id": "7973ed70-216d-4ec8-9d79-9ebda510b44c"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 977, "end_step": 1336, "id": "73e23755-dc9e-4340-ac66-de8c78a251fb"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "goal", "start_step": 1337, "end_step": 1764, "id": "c9bd651d-f94f-4fd6-b7e4-74b937c55371"}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "goal", "start_step": 1765, "end_step": 1852, "id": "bd4dcf6b-7929-4af3-ac4d-6bb5acabf239"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "goal", "start_step": 1853, "end_step": 1988, "id": "1c5a6865-5831-43e3-bf2a-d5506874e026"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "goal", "start_step": 1989, "end_step": 2054, "id": "a2f10d60-825e-419c-badd-1dd0c2c8339c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 2055, "end_step": 2182, "id": "47ca82f9-32c6-4fd7-aa84-5310532de89c"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "goal", "start_step": 2183, "end_step": 2244, "id": "30649320-5a31-4e48-9ecb-f19e8a9813d0"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2245, "end_step": 2386, "id": "66e72caf-5b3f-4e7b-87be-3cbdd27c9efa"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "goal", "start_step": 2387, "end_step": 2460, "id": "29cabce7-08d8-4137-956b-0009511240df"}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2461, "end_step": 2786, "id": "0270c309-68e5-4a9a-9ddb-9ed359d6b144"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}, {"label": "home", "start_step": 2826, "end_step": 2860, "id": "SXacUpSLr4rZ7VKj517ul"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}], "episode_index": 12}
+{"source_uid": "36211cdb9507676d", "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "75c084d8-fe04-4e75-9fac-c8baa828d909"}, {"label": "valid", "start_step": 0, "end_step": 2147, "id": "cXGQLHtaqWpxKajkoish9"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 117, "end_step": 264, "id": "ae3b61d0-c38b-49e5-83d6-000d2ea0d0a8"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 265, "end_step": 322, "id": "feeb57b1-3ee7-4a4f-8dd7-bfcc3304b6d4"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "goal", "start_step": 323, "end_step": 444, "id": "0f1507c4-db5d-431e-b8ee-847e49c6d4ba"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 445, "end_step": 506, "id": "62d5ee83-2919-44cb-8ff9-57a8871901b8"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 507, "end_step": 666, "id": "41f6b11a-8bd8-4f41-9811-e392e06e9c47"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 667, "end_step": 982, "id": "8fa8f528-9010-4575-9f69-54a5f2557cf8"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "goal", "start_step": 983, "end_step": 1114, "id": "e0617ed4-79e2-4254-8708-ba5a0a9d5e6d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1115, "end_step": 1178, "id": "24333d80-4369-4958-b5c1-dbc34b961df4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1179, "end_step": 1296, "id": "a702df4a-a256-48aa-9387-41210db79b39"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1384, "id": "e0b79632-a87c-46a4-b287-9d22991e83c2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1385, "end_step": 1514, "id": "261758ab-2218-4b59-bebb-ffb70dc37090"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "goal", "start_step": 1515, "end_step": 1588, "id": "0054db04-fe61-45e4-b5d9-2fc93199f436"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1589, "end_step": 1704, "id": "6d88813e-4807-4853-a7fc-a333f89428cf"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1705, "end_step": 1764, "id": "4fe28195-ab26-4078-a051-92dedc8ce828"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1765, "end_step": 1894, "id": "88f4e589-adbb-4941-87b8-9a027fc67aab"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "goal", "start_step": 1895, "end_step": 1960, "id": "33b017b5-a4a1-420f-8f46-07748237927a"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "goal", "start_step": 1961, "end_step": 2100, "id": "a10fe01b-ed0f-45f5-8fd4-f95eb3ab8630"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}, {"label": "home", "start_step": 2148, "end_step": 2181, "id": "igu0b7srSWMw0LCa9-yJ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}], "episode_index": 13}
+{"source_uid": "58bfcc32399d1a99", "num_frames": 2086, "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, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "54486ea7-a634-4e75-8475-3314b9e9afcc"}, {"label": "valid", "start_step": 0, "end_step": 2050, "id": "tp0FZQ7FZdkLcnULwZxLO"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "goal", "start_step": 147, "end_step": 306, "id": "18a29c0e-9291-4fe2-bac1-7c9b5790eb8a"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "goal", "start_step": 307, "end_step": 382, "id": "93857fee-6a2a-475a-9604-0c26a3f0b0a9"}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "goal", "start_step": 383, "end_step": 514, "id": "73c7c013-8fec-4669-afbf-574cba185449"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "goal", "start_step": 515, "end_step": 612, "id": "d8a21ca4-3fab-4be9-9405-4a0c2d5437bf"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 613, "end_step": 754, "id": "0e383bf6-54ad-4686-86cc-4cbfa0652ef2"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "goal", "start_step": 755, "end_step": 816, "id": "5f39697e-d9f6-47c0-bb66-a0f40a830c16"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 817, "end_step": 952, "id": "a0c33a45-8ef7-464f-9322-2f1554292183"}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "goal", "start_step": 953, "end_step": 1018, "id": "f1be01fc-616b-4837-8619-281d0da2a01f"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 1019, "end_step": 1128, "id": "736d993e-44de-48d2-a65b-cd2a6e4e94b6"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "goal", "start_step": 1129, "end_step": 1220, "id": "a74f8f43-cda0-4464-be0b-2282fef73210"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "goal", "start_step": 1221, "end_step": 1470, "id": "36b03942-0278-4511-a496-0a140041fe58"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "goal", "start_step": 1471, "end_step": 1540, "id": "8d3e3d16-930b-45dd-be96-54f8336cfdd8"}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1541, "end_step": 1646, "id": "f42b006d-4f77-4575-a5bf-e8be9c66d94d"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "goal", "start_step": 1647, "end_step": 1702, "id": "3a465733-a591-4077-a75a-b5cb72f372bd"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 1703, "end_step": 1818, "id": "8449e205-81da-49f0-a6e6-6f7a42b60228"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "goal", "start_step": 1819, "end_step": 1882, "id": "da9a009b-2007-48d9-ae7a-358a391152ef"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1883, "end_step": 2010, "id": "b224ea87-2176-46bc-b6fc-760b29251a05"}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2051, "end_step": 2085, "id": "nz8Nwa0-9uMLhv92oLp3p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}], "episode_index": 14}
+{"source_uid": "f9f2ccd418a5175c", "num_frames": 2212, "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 on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "acd48c68-74b5-4748-a71f-cb4508e22279"}, {"label": "valid", "start_step": 0, "end_step": 2178, "id": "rjZSLFxLAh1bjdWZe-Ua4"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "goal", "start_step": 143, "end_step": 308, "id": "13edbd35-f5bb-426b-82be-7ce7f1f5e524"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "goal", "start_step": 309, "end_step": 368, "id": "c5512fe9-0491-421a-8c32-eaf26fcced39"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 369, "end_step": 508, "id": "5b315363-0dc6-40b8-a03f-a437665d0349"}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "goal", "start_step": 509, "end_step": 574, "id": "81714e28-4b2b-465e-8344-41083060a2a7"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "goal", "start_step": 575, "end_step": 706, "id": "fdfd922a-da6d-4a52-89d5-6e8559fc80e1"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "goal", "start_step": 707, "end_step": 824, "id": "e1ce5b26-96f3-4cf4-9a16-ec954005455e"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "goal", "start_step": 825, "end_step": 964, "id": "ac77b08d-a3dc-4273-b6c1-959049822a21"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "goal", "start_step": 965, "end_step": 1083, "id": "57e0e392-bf1d-4f96-9e2f-bcdd837d20a0"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "goal", "start_step": 1084, "end_step": 1205, "id": "2f907a4a-b3cd-4502-b04d-72681b969e49"}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "goal", "start_step": 1206, "end_step": 1279, "id": "48df63c9-d501-41b9-9cc4-1302bc849ea8"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "goal", "start_step": 1280, "end_step": 1453, "id": "66426fb9-ee8c-48b8-ac13-962356a428c7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "goal", "start_step": 1454, "end_step": 1523, "id": "09aa97f6-b514-4d6a-b513-84d72a1587bb"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "goal", "start_step": 1524, "end_step": 1695, "id": "b42bccf1-f7d8-48ba-84f4-e5ed1fe6d35f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "goal", "start_step": 1696, "end_step": 1773, "id": "e4596cb0-0a62-4299-94e4-453a2878a1eb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 1774, "end_step": 1915, "id": "8bc2c716-f9c0-4403-af88-c92965d11cd8"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "goal", "start_step": 1916, "end_step": 1993, "id": "fa01223a-8e26-417c-9d5b-d9a10916d8e5"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1994, "end_step": 2127, "id": "fb8eabfe-7ffc-4d60-b360-8ae54b0abc15"}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}, {"label": "home", "start_step": 2179, "end_step": 2211, "id": "jKWlZ8M_eyHhsxI5mz57L"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}], "episode_index": 15}
+{"source_uid": "6d9d984a8ca9dfe5", "num_frames": 2118, "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "2d548adb-b4ba-4470-8d3c-674e9349de86"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "LSaYJhsRLOJ9lFqwM95p9"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 149, "end_step": 300, "id": "b57f4046-d171-4c48-b27a-ef0b9eaad1ed"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 378, "id": "4e4be3f7-f618-491e-955d-1aada782fae0"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 379, "end_step": 526, "id": "c4dafc6b-272e-46c1-9dd5-e6e445e2eaf0"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 527, "end_step": 586, "id": "72577ee3-6e2c-4b1f-a419-7ddaadc4ee72"}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 587, "end_step": 728, "id": "56c8f382-47f4-413a-883b-c5d15aa699d3"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 729, "end_step": 802, "id": "9b583d6d-da50-4294-bfb4-68dfe6a66e48"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 956, "id": "61b13558-75a3-4556-9661-38cfe2c33bb6"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 957, "end_step": 1020, "id": "b619b62b-0b3e-4a9d-9338-fc006c854206"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1186, "id": "f4e32ea3-29f5-4e15-93ea-2e9c991285af"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1250, "id": "fb805c80-62e2-415b-9d15-e3af1b824887"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1251, "end_step": 1396, "id": "b565c9e4-d8c6-4cc1-b395-6b7b24e0fe85"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1397, "end_step": 1476, "id": "06d73fd3-a5fd-4009-a567-ae305df99e41"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "goal", "start_step": 1477, "end_step": 1620, "id": "ddbd7d38-fe7b-458b-b09d-6d163e347afe"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1621, "end_step": 1698, "id": "a2059bda-72e1-45ae-bd26-540f636648be"}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "goal", "start_step": 1699, "end_step": 1844, "id": "ebe31849-e55e-4eeb-b6f8-8ffe6e3a2802"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "goal", "start_step": 1845, "end_step": 1906, "id": "dc62884f-a637-4fe3-bcae-6c85702c3686"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "goal", "start_step": 1907, "end_step": 2038, "id": "227355d7-37e4-4219-b476-02c3c29920e3"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}, {"label": "home", "start_step": 2085, "end_step": 2117, "id": "JZr0X48o01BOdfTLE6VdK"}], "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}], "episode_index": 16}
+{"source_uid": "071e3df8697f39a3", "num_frames": 2433, "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "e253e0ae-2fba-4038-8efe-e5cf7a139ab7"}, {"label": "valid", "start_step": 0, "end_step": 2400, "id": "57xhHvkK-WMY5mfP9A7Bb"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "goal", "start_step": 119, "end_step": 234, "id": "5370f79d-aaee-4dbf-9768-77816546deb1"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "goal", "start_step": 235, "end_step": 312, "id": "f7bba1de-ee4e-4252-876f-366a473e9450"}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "goal", "start_step": 313, "end_step": 436, "id": "c5fe3045-e9a2-41b7-8e0c-0e698c4e3a34"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "goal", "start_step": 437, "end_step": 502, "id": "0c532cb4-e594-4e92-89ed-f3ed6257a15d"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 503, "end_step": 636, "id": "9ac848ac-e65a-474c-91a4-5e5a90f18350"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "goal", "start_step": 637, "end_step": 720, "id": "378efe45-cf36-422b-8dd7-c2b02c68fd26"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 721, "end_step": 1046, "id": "4cf11b78-5d9c-4462-9f70-a5b69bb8690b"}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "goal", "start_step": 1047, "end_step": 1092, "id": "76d1c379-dff1-4204-98c2-41a9802fe9f0"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1093, "end_step": 1308, "id": "97c32a9b-564c-4c58-b404-303316de3537"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "goal", "start_step": 1309, "end_step": 1380, "id": "67e2b594-a048-4efd-a59f-2a4965ef92e2"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "goal", "start_step": 1381, "end_step": 1528, "id": "a20191ac-1065-471b-95c9-a8c24cf071f2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "goal", "start_step": 1529, "end_step": 1602, "id": "8abcd9f2-f2bd-4a2c-bae7-b82a7039bdb2"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1680, "id": "b62bd8bc-e005-4230-bdb7-aada72f01530"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1681, "end_step": 1874, "id": "481126ac-20b7-4f96-9d2e-628107ec62dc"}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1875, "end_step": 2020, "id": "aeb3f65b-0c76-4b35-b923-5e5c193a640e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "goal", "start_step": 2021, "end_step": 2090, "id": "dbeaabae-dbfd-4023-add6-37e306655bef"}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2372, "id": "b4f5bd4b-b933-4197-a6e1-d2fb6956e301"}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}, {"label": "home", "start_step": 2401, "end_step": 2432, "id": "uRZtBjk5Rtg56WyHT2Vi9"}], "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}], "episode_index": 17}
+{"source_uid": "ed948361a07917de", "num_frames": 2023, "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: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "eeebd467-ca4b-408a-af1c-e440a61b923a"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "2zk7-56aEmMWnKHyio66H"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 296, "id": "1d611090-03f5-4ebf-ab01-451d5a87c617"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "goal", "start_step": 297, "end_step": 362, "id": "7fc51a06-c853-4038-8552-21200bff522c"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "goal", "start_step": 363, "end_step": 488, "id": "f65fbc7a-e5eb-4ddb-84b5-b3343eb9d53d"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "goal", "start_step": 489, "end_step": 559, "id": "f9c9d34a-b044-4ad5-9509-b02c560a9996"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "goal", "start_step": 560, "end_step": 701, "id": "81052293-981a-4a24-8508-a3e2a66f4092"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 702, "end_step": 765, "id": "f4e19e23-7571-4106-a0c0-18f0eb934d95"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 766, "end_step": 929, "id": "cdb40033-b6c6-46ff-98a0-03b3a0523d8a"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 930, "end_step": 1005, "id": "770e1805-faaf-44f4-a099-f098d47a1a7c"}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "goal", "start_step": 1006, "end_step": 1133, "id": "9bf8e2d9-7088-485a-8299-98837d128966"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "goal", "start_step": 1134, "end_step": 1197, "id": "e0d18531-c6e2-429a-8b23-8b00a1c61d9c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "goal", "start_step": 1198, "end_step": 1313, "id": "3b60ae54-4761-4224-b48a-13c4c3347476"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 1314, "end_step": 1391, "id": "cecac0e8-5c92-4e37-857f-ebd0b8dfeaab"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1392, "end_step": 1519, "id": "8289047f-5eab-4028-9a56-4e4f59e2c384"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "goal", "start_step": 1520, "end_step": 1589, "id": "f123be94-728c-47a3-9fcc-a055c32e47f2"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1753, "id": "d1593560-0c0a-4a4e-8165-9f0e9aa01afa"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 1754, "end_step": 1811, "id": "4e481856-9654-41f2-a7f5-8582c5e03a83"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "goal", "start_step": 1812, "end_step": 1949, "id": "b2b1cd6d-9be5-4de6-a6cc-a7322588c267"}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}, {"label": "home", "start_step": 1991, "end_step": 2022, "id": "Qs29bBuEOmi2CZM_xuMxO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}], "episode_index": 18}
+{"source_uid": "f2041b13e6e8d424", "num_frames": 1920, "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: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 127, "id": "b530e6e0-4075-4fec-b3cc-0a76da92c85d"}, {"label": "valid", "start_step": 0, "end_step": 1887, "id": "dvrgAnId85d6sfg2IcTIb"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 128, "end_step": 269, "id": "8c83851a-959e-4fd1-9a53-f3c880b9f8f3"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 270, "end_step": 331, "id": "4a30d006-8d39-47df-a8fa-7baee1fa68b2"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "goal", "start_step": 332, "end_step": 445, "id": "83810567-129f-422e-9023-d01036ed5f7b"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 507, "id": "1a549c76-0c20-4f63-95a0-25f2c4c47c66"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 508, "end_step": 613, "id": "86c83d37-a2e9-4cc4-a5d8-1039bf55a069"}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 614, "end_step": 669, "id": "65119adf-9bd8-4649-a301-4dad1d62f864"}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "goal", "start_step": 670, "end_step": 761, "id": "3e8df3b9-955b-4724-a0e4-8561cd22389d"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 762, "end_step": 837, "id": "62897ca8-4cc9-4bfb-8bed-4eb142155056"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "goal", "start_step": 838, "end_step": 967, "id": "6e3eec90-bc67-456c-ba95-e9945d720d1c"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "goal", "start_step": 968, "end_step": 1039, "id": "603d80d5-1138-4ffd-9d7a-b970cf13b790"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "goal", "start_step": 1040, "end_step": 1165, "id": "4211fabb-0550-414f-be7a-d7b6712dc4cc"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "goal", "start_step": 1166, "end_step": 1239, "id": "29a5fc7e-1355-4c04-9cc3-80acdfbfef9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1240, "end_step": 1351, "id": "e6612ab4-c2f1-4fe9-b2f5-9537f491d5a5"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1352, "end_step": 1413, "id": "27a60d09-56d7-4ddb-9f63-f62ef54f9f3b"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1414, "end_step": 1541, "id": "804a0dda-64b6-4deb-89f8-4ed8a349aa3f"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 1542, "end_step": 1653, "id": "63a21528-c6aa-42f2-9ce6-d982d9328488"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "goal", "start_step": 1654, "end_step": 1837, "id": "d4713a9a-f523-4599-9d5e-b556caa12d5d"}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}, {"label": "home", "start_step": 1888, "end_step": 1919, "id": "Rc84RRsT_Ke0RUm8lKKdv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}], "episode_index": 19}
+{"source_uid": "3a1303e2febd2064", "num_frames": 2329, "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": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "7b932916-def8-4f6b-a0b5-9ac4197890e4"}, {"label": "valid", "start_step": 0, "end_step": 2297, "id": "L9OVipnax-0NY6JqGNOTg"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 143, "end_step": 302, "id": "90f9e768-a4f1-495a-bd64-2f0e94ec8d3c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "goal", "start_step": 303, "end_step": 398, "id": "20ee45c4-fc6b-424b-b101-b89708c5aaba"}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 399, "end_step": 522, "id": "9d4504ba-cf06-46c2-ae62-563d01f25dbb"}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "8a1763cb-1c27-4969-a68c-89ca7a442551"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "de7c3d17-a934-42b3-b1c5-e9d3afe4d37e"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "goal", "start_step": 741, "end_step": 792, "id": "d44c3500-3022-4d7a-87ce-2e58d118d042"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 793, "end_step": 910, "id": "bd719c92-6279-4a0e-9d7f-0723eab8c010"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "goal", "start_step": 911, "end_step": 1036, "id": "ee6905c3-e5ab-4299-8051-fc953d10d7cc"}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "goal", "start_step": 1037, "end_step": 1264, "id": "6ddb4121-eb9b-46ae-bae3-c1f82f238af7"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1334, "id": "a0f5efca-a9cd-4609-9751-6d15e21afa72"}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1335, "end_step": 1500, "id": "4ad2274b-58e7-4586-8be0-0c554df21551"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1570, "id": "7965f650-4269-4662-930b-4128f7a082e0"}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "goal", "start_step": 1571, "end_step": 1696, "id": "ff071a33-85b8-4e90-89b0-c15a9228c409"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "goal", "start_step": 1697, "end_step": 1754, "id": "3e800d1b-d4b8-4ceb-8a46-bce4eb5d46cb"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 1755, "end_step": 1976, "id": "31988f46-1719-43fa-8c89-9bb9eca8fa25"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1977, "end_step": 2114, "id": "68280a6d-af57-4c39-9f29-48c5a9f6962c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2115, "end_step": 2262, "id": "3a0e7d9b-705e-430b-8c70-01b158c4e60b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}, {"label": "home", "start_step": 2298, "end_step": 2328, "id": "3q2wo8S7WFBWhqnbAfews"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}], "episode_index": 20}
+{"source_uid": "583240a391765b19", "num_frames": 2298, "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "54c0da18-d642-48fa-a88a-3ec1eb6a617c"}, {"label": "valid", "start_step": 0, "end_step": 2261, "id": "8I9t2KE13OXj_Upcz0C15"}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"label": "goal", "start_step": 129, "end_step": 276, "id": "5c1439e8-2ff7-4a82-91b4-a3a8ad4024fe"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 277, "end_step": 356, "id": "51ef5809-c6f9-46eb-83c2-387e94a01849"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 357, "end_step": 494, "id": "e55ddd60-c09d-46a0-ba0b-b116b3a47974"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 495, "end_step": 576, "id": "7000443b-1338-48f4-a3b6-fc624a7f0050"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "goal", "start_step": 577, "end_step": 802, "id": "2db83ae0-32b3-499a-a708-514e06055ce1"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 803, "end_step": 878, "id": "cfced2f7-1123-4cc5-9490-f0bd05f923ea"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 879, "end_step": 990, "id": "ab8eb5e4-6bc1-4d4a-b237-248953d6d7d5"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1066, "id": "eeb63474-7b00-4d07-afca-c0361b27a82b"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "goal", "start_step": 1067, "end_step": 1186, "id": "157cd3e0-3d2a-4fab-a243-56fa6df8178a"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1276, "id": "336ddc62-14b0-42ba-b3dd-4b31ac3ce123"}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1277, "end_step": 1388, "id": "dc9feeb2-266a-4ff7-9c7c-6d134f7846f7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1389, "end_step": 1440, "id": "5da7d5c3-bdf0-4a01-9ff6-db02a545f3f0"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "goal", "start_step": 1441, "end_step": 1558, "id": "037a83b0-1054-4336-8957-5d4f0df1d7d3"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "goal", "start_step": 1559, "end_step": 1629, "id": "fa4fc280-7bef-463a-bb25-9c815fcbca56"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "goal", "start_step": 1630, "end_step": 1757, "id": "3e0d92ae-e8a4-47eb-b39f-07d170ba345e"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "goal", "start_step": 1758, "end_step": 2005, "id": "8bc35d09-2de6-4df8-b6f3-2750cbb14313"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "goal", "start_step": 2006, "end_step": 2227, "id": "af01a969-f483-411b-af2a-e7393803f6d5"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}, {"label": "home", "start_step": 2262, "end_step": 2297, "id": "UJrcCm678pGSR5XYAMbCD"}], "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}], "episode_index": 21}
+{"source_uid": "f9000861d46dc5e6", "num_frames": 2401, "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "d613e7da-8f73-4ff6-8b72-f57edf2fd5ed"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "TwykzoF3_8OGfHDMbiYyo"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 123, "end_step": 238, "id": "4704ed47-0702-4fd2-a94f-06963fc572b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "goal", "start_step": 239, "end_step": 310, "id": "69b00d5d-9354-45e3-892c-3c74968061b6"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "goal", "start_step": 311, "end_step": 438, "id": "361107c5-ee97-4310-8882-1974bd40fed4"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 439, "end_step": 552, "id": "e95e1b53-a85f-4c18-a2d0-abb81adbbeac"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 553, "end_step": 682, "id": "9300becc-5d05-4e7d-b687-be20eca4a483"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "goal", "start_step": 683, "end_step": 772, "id": "ad2af707-523d-44f4-8226-ca174b0c01c7"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 773, "end_step": 902, "id": "7b479347-8af8-40ce-8b0d-d56fc8f98ce0"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "3cc43ec5-14bc-4a5a-84f1-dc3bf5d28710"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 975, "end_step": 1094, "id": "794e2dcc-aff2-4c46-a7d8-7fefa9128f8b"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1095, "end_step": 1180, "id": "c5e39abb-4859-4612-b674-1451202e13ff"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "goal", "start_step": 1181, "end_step": 1426, "id": "7bf4000d-a9b1-4359-8f46-d24dd3b885a7"}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "goal", "start_step": 1427, "end_step": 1504, "id": "61abe14a-aa76-40a8-8713-367fd51e6709"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 1505, "end_step": 1754, "id": "0db00174-12f5-4f13-acd0-719cb4edc8a6"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"label": "goal", "start_step": 1755, "end_step": 1840, "id": "e1a5f462-c9ed-45b0-b27d-02f9ee4fb33f"}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "goal", "start_step": 1841, "end_step": 2082, "id": "fcfc6362-5846-444f-8550-4040415384c6"}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "goal", "start_step": 2083, "end_step": 2188, "id": "8d4c62bf-fda2-4b7e-8e43-0bc3a0279466"}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "goal", "start_step": 2189, "end_step": 2330, "id": "fed5f54c-65cc-4e36-84a4-716c055b64a6"}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}, {"label": "home", "start_step": 2365, "end_step": 2400, "id": "tP_2WXqe5N241CiTPMlcq"}], "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}], "episode_index": 22}
+{"source_uid": "fdf59a469cf3c4b7", "num_frames": 2396, "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: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0d571dbb-81ce-42a7-bc39-a728108f1dcc"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "LRZ30F36g8E3lDK44NW-u"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 222, "id": "e951b3f2-eb7d-4820-9c5e-e87c52dec6fe"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 223, "end_step": 310, "id": "b709d484-d4bf-42ce-9ecb-d6c2bdfc5301"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 311, "end_step": 412, "id": "1c8f01d9-2522-4d96-a1ba-13d3467a86e8"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "46cce65c-bf69-476b-9fdb-285b7e6fc4b8"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "goal", "start_step": 485, "end_step": 638, "id": "b07df91b-fbfa-4c2f-a992-2caa5b193eff"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 639, "end_step": 710, "id": "643dd5c4-aa75-4cc5-b78f-ba3a8b6b5088"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 711, "end_step": 928, "id": "78eed047-a797-4bd3-be5d-dfbd16cb4874"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 929, "end_step": 1018, "id": "becf39d4-5600-4836-be61-f64d9e721c90"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1019, "end_step": 1340, "id": "09e10546-3e44-4f13-acae-cbbd2c5a79d3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1341, "end_step": 1430, "id": "6872869b-7db1-4d2f-bd8d-95af89b93c0b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1431, "end_step": 1574, "id": "5fa6cd59-72e8-4c44-b0f8-3ade94f4b07c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1575, "end_step": 1694, "id": "a73fd8e5-74fa-4776-8a46-b3eae29c5168"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1695, "end_step": 1792, "id": "2f254fe8-b92f-434b-b00a-14d4b9b9782a"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "goal", "start_step": 1793, "end_step": 1882, "id": "b1b6b422-988b-4735-b527-2fba325ce9c1"}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "goal", "start_step": 1883, "end_step": 2086, "id": "2c6e151c-ac68-41d7-81af-f0ca69eb2882"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "goal", "start_step": 2087, "end_step": 2174, "id": "5fd5e7d2-1da5-4c27-b22b-179f60087b35"}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "goal", "start_step": 2175, "end_step": 2330, "id": "a99015d3-0538-40c2-82be-b93e4a257d22"}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}, {"label": "home", "start_step": 2365, "end_step": 2395, "id": "41kAw_FkHgETj_DIL3JWc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}], "episode_index": 23}
+{"source_uid": "d18b46ce61cc1ac6", "num_frames": 2161, "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_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "b603c8ec-dfbd-4aba-b5aa-0f325476ba98"}, {"label": "valid", "start_step": 0, "end_step": 2128, "id": "hf9_ixf4g44F8dYMasgGy"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "goal", "start_step": 127, "end_step": 268, "id": "5ecd2754-b04f-4cd5-aeb0-71a61726c195"}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "goal", "start_step": 269, "end_step": 342, "id": "f4f68bc5-a69d-4602-8a87-ef57684ec7bf"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "goal", "start_step": 343, "end_step": 502, "id": "1129e729-5696-4058-a618-f0e8472eb0bd"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 566, "id": "22de959e-ad5e-4350-b711-5fd1bc01c5a0"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 567, "end_step": 734, "id": "0476f68f-33b6-4a75-8b71-5bf3c67da37a"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 735, "end_step": 814, "id": "33f54a61-2411-4cd1-b8f4-dda8fd934910"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 815, "end_step": 940, "id": "6d885bc3-7aef-44af-8ce0-69e9325d1b40"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 941, "end_step": 998, "id": "196c5070-f748-4ca3-90fc-a52561ba89d4"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "goal", "start_step": 999, "end_step": 1136, "id": "7af2ccf6-30e0-4015-bb21-f501dc1fba9d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1224, "id": "29a3579c-a727-43ec-888c-53cbf6e0f1cd"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1225, "end_step": 1350, "id": "b2a5f583-d46f-4f08-a5b2-bb6910faf2ab"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "goal", "start_step": 1351, "end_step": 1434, "id": "0313216b-0b81-4e90-abe2-3bef133bea75"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1606, "id": "068e2c80-ae88-4110-865b-41bbdccfaa93"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1607, "end_step": 1680, "id": "7b5b7754-f2ff-4a94-aa5c-0571e7c2eb72"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1681, "end_step": 1838, "id": "c543e3f2-2354-4a95-b7e9-db77de80c907"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "goal", "start_step": 1839, "end_step": 1898, "id": "e051a83e-a4fb-4086-bf03-99cb5912426e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1899, "end_step": 2082, "id": "ec0c10b8-c3d6-4f1c-a171-0f81f267c40e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}, {"label": "home", "start_step": 2129, "end_step": 2160, "id": "K6KCpKWGhhxvpJJJZ8kI_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}], "episode_index": 24}
+{"source_uid": "c23fe238c6cde478", "num_frames": 1994, "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: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "34393b05-7a23-48f1-bf43-9d049599c80a"}, {"label": "valid", "start_step": 0, "end_step": 1961, "id": "ci9ADBpZL05a7CaDv9KYs"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "goal", "start_step": 123, "end_step": 298, "id": "6bca4a10-8919-4249-a7f9-78aad97be19d"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "goal", "start_step": 299, "end_step": 372, "id": "a552ef9d-c3fa-4fe2-bfbd-40e32ee24c98"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "goal", "start_step": 373, "end_step": 522, "id": "05df9a2a-024c-4738-bf0a-a310453e4c85"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "464810e5-600a-4849-9d3b-40841d0f714f"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "1c4cadd4-6847-4831-9807-a666afa70230"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "goal", "start_step": 741, "end_step": 808, "id": "09463540-e6ff-46cd-82cb-c517626b0fb6"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 809, "end_step": 918, "id": "b1996ffe-0c51-44d4-be01-fb8c2d185ae3"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "goal", "start_step": 919, "end_step": 994, "id": "2b7aa01d-1b77-4771-bbd1-1cab8f43195d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 995, "end_step": 1158, "id": "86316982-9cfb-4ab6-ae9b-be73f6773eea"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1224, "id": "6b177b84-ece9-4c1c-8524-284809c7f0de"}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1225, "end_step": 1392, "id": "badfc806-8fc4-4609-bde9-77c3fbb50438"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "goal", "start_step": 1393, "end_step": 1442, "id": "32fbb34f-e6f6-453a-8eeb-3dc7b5f93e7b"}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1443, "end_step": 1550, "id": "1bee12b9-2a22-4f39-a714-07b7ffe2c613"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "goal", "start_step": 1551, "end_step": 1614, "id": "0603685b-2c45-49af-bde6-0d2d852ab228"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 1615, "end_step": 1754, "id": "62fd6daf-7ffb-4bea-80eb-03b6ab428be3"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "goal", "start_step": 1755, "end_step": 1814, "id": "4b991101-0a97-4a41-adf3-f5e5373fe7db"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1815, "end_step": 1930, "id": "2cdf8b67-59b4-4e18-9771-64d422b1ca87"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}, {"label": "home", "start_step": 1962, "end_step": 1993, "id": "g7_6z8D9BzizIqxjZ8_RK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}], "episode_index": 25}
+{"source_uid": "83f4d2aa760603c7", "num_frames": 2324, "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: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "ba5373e4-a629-4bfe-af1e-725fb5e04c9e"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "IA2gDfPdfqKhxAjkXlsaP"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 252, "id": "433a2f77-3540-439d-954a-3e744e7ca6e8"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "goal", "start_step": 253, "end_step": 326, "id": "77ae9905-8a72-442b-bfec-5fef8127f1bb"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 327, "end_step": 574, "id": "b4040319-93e6-4d46-865b-0e1282280eb0"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 575, "end_step": 646, "id": "41e64121-89d6-4adf-9649-5f9bf0addbed"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 647, "end_step": 818, "id": "4c5b5094-3374-49e8-bcba-79fa0758652e"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 819, "end_step": 874, "id": "300889db-0dc3-4d8c-a39a-bfb950f33bfc"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 875, "end_step": 982, "id": "dba4c439-a0fd-4a67-afed-5ed8c495b78a"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 983, "end_step": 1050, "id": "07e1c03e-e2aa-47b5-bdca-5093e251173e"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1051, "end_step": 1188, "id": "0ae49894-808d-4f66-a25f-949da914165a"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1258, "id": "8b32fd3c-64b6-4f06-b9a0-76efc638ebea"}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "goal", "start_step": 1259, "end_step": 1380, "id": "e57536b3-ee0d-4f48-a3e3-567d5a2dac19"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1381, "end_step": 1454, "id": "65f6de4f-eb85-44b4-be79-3f328170260e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1455, "end_step": 1620, "id": "4bf7c894-cd2c-4c3a-a51f-d8c5cf874932"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 1621, "end_step": 1684, "id": "907fecad-06b2-4ca9-8d90-b64a9c2e6339"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "goal", "start_step": 1685, "end_step": 1810, "id": "79931ccf-e46b-4aab-9e64-f778ccef8f2a"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "goal", "start_step": 1811, "end_step": 1874, "id": "4c172254-9824-469d-887e-2168905400a7"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "goal", "start_step": 1875, "end_step": 2258, "id": "f4c6fa4b-cce0-472b-99b1-670ab180691b"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}, {"label": "home", "start_step": 2290, "end_step": 2323, "id": "FJmoWE5DQb-LjpO-xfvFV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}], "episode_index": 26}
+{"source_uid": "191eb4e8be6cf840", "num_frames": 2133, "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_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "52db5c36-6527-4fb4-b76c-6c092406e005"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "zQ0teTTIL1pU2bgkdvNSv"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 240, "id": "8f1c9797-32a8-4930-aa06-d875691e9f33"}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 303, "id": "5f1a047c-c1ac-47ed-b8cd-e9c1f096112e"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "goal", "start_step": 304, "end_step": 483, "id": "12ab257b-c8cf-471b-a780-8e73999e9a10"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 484, "end_step": 539, "id": "81113756-b517-46cf-9fd3-ce9ae666df74"}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 540, "end_step": 763, "id": "9978f91e-ab21-4f01-86f1-f6e17e39fe2e"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "goal", "start_step": 764, "end_step": 841, "id": "e0716298-c2a9-4fc9-93a5-5aef2b91a93a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 842, "end_step": 957, "id": "1666b130-0c46-4d1e-9b53-9a7f8da791a3"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "goal", "start_step": 958, "end_step": 1027, "id": "ea764a32-8e08-4861-82ac-156832781ee4"}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1028, "end_step": 1195, "id": "26852c7b-e54a-46ae-9bb6-1c80808fc12d"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1196, "end_step": 1251, "id": "84f11ee1-ea7e-4656-87c2-b18c0d498986"}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1252, "end_step": 1387, "id": "0f5e57ca-c2bb-4bd5-acd5-2bbf0c35cea7"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1388, "end_step": 1455, "id": "935a5b51-0261-4cd1-a2bb-6590ed6a67c0"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1456, "end_step": 1571, "id": "692d4451-4c12-43d0-ac71-9e631223f83e"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1572, "end_step": 1629, "id": "78507f22-cdca-4036-ab66-abad713008b4"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1630, "end_step": 1743, "id": "bf20ae04-b492-40e0-bbfd-93fb62c37c3a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1744, "end_step": 1807, "id": "792c0285-3c34-4ad7-8d0d-82b7aa87f547"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "goal", "start_step": 1808, "end_step": 2057, "id": "74c8bae5-bb42-4b18-8f87-d58e446c21af"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}, {"label": "home", "start_step": 2099, "end_step": 2132, "id": "m0WofIp_P7YEhUwehCh47"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}], "episode_index": 27}
+{"source_uid": "f3ee56df0e32628e", "num_frames": 3103, "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 on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "c4a544cf-7216-4100-a622-bb6fb79c132a"}, {"label": "valid", "start_step": 0, "end_step": 3067, "id": "LAgOzebX8d_tBcLw1dtEi"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "goal", "start_step": 125, "end_step": 264, "id": "95a29c3a-5126-4cac-a2f2-b66a8f990fa5"}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "goal", "start_step": 265, "end_step": 334, "id": "f0388da8-36e1-4f20-a7f5-8e51dcebfaf6"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "goal", "start_step": 335, "end_step": 468, "id": "9219fd5f-3f85-4b99-93fb-71dcff373817"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "goal", "start_step": 469, "end_step": 540, "id": "8cb61686-97ed-4ca5-afce-0c508f2cf8d0"}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "goal", "start_step": 541, "end_step": 804, "id": "67828e0d-3317-4945-9d4e-5b646a58ca63"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "goal", "start_step": 805, "end_step": 870, "id": "d79bfca1-c4be-4000-96b6-b1bf9e942690"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "goal", "start_step": 871, "end_step": 1518, "id": "e8b20037-a30b-4c3c-9612-1c4c7fe3ee7a"}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "goal", "start_step": 1519, "end_step": 1588, "id": "0b3f6bfc-3df2-4be6-98e0-0e80e992e60e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "goal", "start_step": 1589, "end_step": 1730, "id": "d352410d-2306-4099-be47-bbba441dff7a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "goal", "start_step": 1731, "end_step": 1798, "id": "dcb930fd-6ef1-444d-8705-18b4058edb92"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "goal", "start_step": 1799, "end_step": 1910, "id": "15a9c068-4da6-4941-bf97-448b3bd7ffd5"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "goal", "start_step": 1911, "end_step": 1976, "id": "f1aa7487-7c9b-409c-b606-601f3affb0d3"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2130, "id": "d18ac3c5-e2a9-4a95-82be-f47a1f575253"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "goal", "start_step": 2131, "end_step": 2178, "id": "b2b83d51-731b-41d9-b4c1-c5d0c1aeadd0"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "1a01e498-8555-4fab-a0a9-796e7fa85e30"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "goal", "start_step": 2425, "end_step": 2486, "id": "3457da86-c1c1-4365-9388-431ff3d6bc97"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 2487, "end_step": 3024, "id": "1d580850-59b9-49cc-95a7-9b10c6a75dfa"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3068, "end_step": 3102, "id": "daslhGy6EGX83sQm70BgM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 28}
+{"source_uid": "7d5484fe619df169", "num_frames": 2418, "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 located in front of the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "26fdaba9-79a7-4b9d-9702-8ecc8ff87f3f"}, {"label": "valid", "start_step": 0, "end_step": 2384, "id": "f-MLWmrIxKzFLTMhGX5C6"}, {"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 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": 111, "end_step": 300, "id": "3ceae929-52de-4506-bf6c-615bf6db7719"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 301, "end_step": 372, "id": "ec5f8aec-8775-4f83-a9fc-a578bf2e1c57"}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "goal", "start_step": 373, "end_step": 486, "id": "09aaf7d8-e3dd-4e4a-bc4e-af903b492c34"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 487, "end_step": 554, "id": "544bef78-9462-49f4-bc89-0ed84c74730d"}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "goal", "start_step": 555, "end_step": 724, "id": "f1edeb91-3882-46d5-b95a-cc498b6d8a1a"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "goal", "start_step": 725, "end_step": 780, "id": "84594faf-7b8b-42ea-b061-a68d8b359c8d"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "goal", "start_step": 781, "end_step": 900, "id": "c7a088c0-82e8-44ec-a218-1bb3fd06bcfa"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "goal", "start_step": 901, "end_step": 1108, "id": "5d674593-dc01-4e41-916b-d76d30f547da"}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "goal", "start_step": 1109, "end_step": 1236, "id": "73ed3f75-d0e3-4f87-9213-339a74073cea"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1237, "end_step": 1356, "id": "9d4989b3-a4bb-4b91-9766-77c5654f5658"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1357, "end_step": 1490, "id": "0f5f8286-3d77-496d-b606-9b319eb36a3b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "goal", "start_step": 1491, "end_step": 1582, "id": "1ef5d0d7-7316-473a-b96e-5c6a68c6bfc2"}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "goal", "start_step": 1583, "end_step": 1750, "id": "3a058a75-6af2-414f-81b2-3a96a54c264a"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "goal", "start_step": 1751, "end_step": 1822, "id": "fabe1ab5-702b-4cfb-ab01-86e35245df23"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "goal", "start_step": 1823, "end_step": 2144, "id": "c148f427-8c3f-4fa9-807c-93a7beea0ce7"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "goal", "start_step": 2145, "end_step": 2226, "id": "388a757e-343c-470c-80af-64c51bb24883"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "goal", "start_step": 2227, "end_step": 2346, "id": "f18b4427-5208-42ab-8ade-6cfd0a9ca7e6"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}, {"label": "home", "start_step": 2385, "end_step": 2417, "id": "Q_-b38uHe6X98PFcGST4z"}], "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 located in front of the wooden base on the black table."}, {"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 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": 135, "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: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}], "episode_index": 29}
+{"source_uid": "826d7e023867acc7", "num_frames": 2220, "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_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 104, "id": "88761c44-089a-414e-b38a-8646a153b050"}, {"label": "valid", "start_step": 0, "end_step": 2189, "id": "SDhWS7PbR_uYn_WnNx7qr"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 105, "end_step": 244, "id": "6a54b108-22bc-4d8a-b6fd-8d6ef4fbc15e"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "goal", "start_step": 245, "end_step": 302, "id": "adb2a0c4-f8fe-4b5b-bb34-eafdc99f1c0b"}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 303, "end_step": 520, "id": "b4575435-9ef8-4b6f-9400-8ea13ab18d0d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "goal", "start_step": 521, "end_step": 608, "id": "c90de2b3-4370-4ca5-984a-b27bd9e1c81e"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "goal", "start_step": 609, "end_step": 782, "id": "4e561687-821e-478f-b24f-a27c6ef74665"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "goal", "start_step": 783, "end_step": 844, "id": "33fc07bf-037d-4c8a-9656-addc94e86b20"}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 845, "end_step": 978, "id": "4e5f039c-b788-4755-ac3c-0cc021e6baa2"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "goal", "start_step": 979, "end_step": 1058, "id": "41b3633f-3311-415c-a4b9-44f80d4bffa9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1059, "end_step": 1172, "id": "981dcb3f-71b8-43a1-82c3-ab0c5b10305f"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1173, "end_step": 1246, "id": "13265388-ffa2-4556-8547-ff51fc0208ec"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "goal", "start_step": 1247, "end_step": 1384, "id": "2fd353a8-534a-4370-8ed5-d93ea8942e47"}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "goal", "start_step": 1385, "end_step": 1592, "id": "fea88eaa-f96e-4bad-9069-569cbe09a18a"}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "goal", "start_step": 1593, "end_step": 1718, "id": "3235bb5e-ed28-423c-8bb5-b6c9c93811d2"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1719, "end_step": 1802, "id": "6f1c83fa-748b-4cf6-bbdb-1bb2bb851c61"}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1803, "end_step": 1958, "id": "621cb06a-60c4-4ae0-b633-c38907e24c85"}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "goal", "start_step": 1959, "end_step": 2030, "id": "cad53b2b-1c06-4eb8-bfdb-ff163e0415a4"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2031, "end_step": 2146, "id": "0b788439-5ef6-40f4-823c-54ace52325ab"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}, {"label": "home", "start_step": 2190, "end_step": 2219, "id": "_ih5W5QvygMuz5LK7i0G3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}], "episode_index": 30}
+{"source_uid": "8f59d7fb094f3193", "num_frames": 1957, "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "ccacc417-f1d1-460e-868f-613983f9c31f"}, {"label": "valid", "start_step": 0, "end_step": 1926, "id": "8jR05v-M6bC20AtAh1N0s"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 232, "id": "995ec6a7-e622-45a9-a1d5-e580b8b5899e"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 233, "end_step": 298, "id": "a59d49df-5f84-4ed2-83c0-1c9b14939087"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 299, "end_step": 410, "id": "52c0ea0b-a2a2-4726-ac4c-a70fa96c8a28"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "goal", "start_step": 411, "end_step": 480, "id": "03371cde-16ec-4bdf-9998-dce167f1804c"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 594, "id": "7dcbfd1a-3672-4d26-944c-b5c9c7a9c18a"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 668, "id": "9b2bb254-b696-43db-ac2f-aa5447ee263b"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "goal", "start_step": 669, "end_step": 842, "id": "90e116d3-45b8-498a-8a39-1bb2d079fa3e"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 843, "end_step": 900, "id": "8239b380-c38c-4a8f-a058-32cd18d33ce8"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 901, "end_step": 1014, "id": "c7864cfc-3c59-408e-9e23-222b3f6930e2"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "goal", "start_step": 1015, "end_step": 1152, "id": "9dd127aa-7f68-49fd-b945-3ba359965ab1"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1260, "id": "ebf63628-8dad-4f53-83f7-3a1472e1f882"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1261, "end_step": 1324, "id": "330cc99b-df3b-47f8-b4b2-bd5c74322492"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1325, "end_step": 1404, "id": "7fb15e24-1fe5-4652-aa85-b42f81df16fc"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "goal", "start_step": 1405, "end_step": 1566, "id": "ff892c57-0093-41b0-a257-3a080d97ffcc"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "goal", "start_step": 1567, "end_step": 1680, "id": "60d776b8-5d80-4962-bfc3-538a354cc939"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "goal", "start_step": 1681, "end_step": 1729, "id": "2b8a3524-5ada-44ad-a538-bf6c3e41066f"}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1730, "end_step": 1879, "id": "b32ada5f-3a5c-4bb3-84d1-2ed99895a0e0"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}, {"label": "home", "start_step": 1927, "end_step": 1956, "id": "W1mG5K3Qli1K2VQXgHBUX"}], "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}], "episode_index": 31}
+{"source_uid": "1b6f0a17514186e7", "num_frames": 2365, "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "5b8d8201-5129-46c7-93eb-b8060f712d2e"}, {"label": "valid", "start_step": 0, "end_step": 2332, "id": "TXHXfs0F6XfVmHlJtcnNF"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "goal", "start_step": 109, "end_step": 210, "id": "1b976177-47c7-420c-aec8-058b20b24a65"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 211, "end_step": 283, "id": "d824d8e4-8bb3-4f43-97fe-d7a4c8d5b712"}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 284, "end_step": 505, "id": "0b4d38b7-c165-4bf5-9fb5-9215766f8f13"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "goal", "start_step": 506, "end_step": 583, "id": "c5c62e32-20d0-41d6-bc73-5b8a191d2181"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 584, "end_step": 693, "id": "8e412c0b-588d-4ebf-ba71-5455fe8ab350"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"label": "goal", "start_step": 694, "end_step": 763, "id": "9140680d-8bcc-4643-a4d8-0ffde0d46212"}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "goal", "start_step": 764, "end_step": 905, "id": "f01c8fbd-10cc-4c78-9cdd-2983c964d889"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "goal", "start_step": 906, "end_step": 959, "id": "03d0eb3f-eca1-4ee9-b5bb-e0e80b71ab1f"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 960, "end_step": 1073, "id": "80921e3a-e5ac-4e67-8fed-55fbaedea62b"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "goal", "start_step": 1074, "end_step": 1139, "id": "fb46a1e5-6a0d-4a03-b648-39b4a56efa29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "goal", "start_step": 1140, "end_step": 1773, "id": "12eeab78-668e-4c2a-b218-0d4aa9fed78b"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "goal", "start_step": 1774, "end_step": 1845, "id": "cd5b133a-69e1-44e1-8057-c6548322a9a7"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "goal", "start_step": 1846, "end_step": 1935, "id": "bd8aebd1-1a7d-4e48-bba5-960c644ea5f8"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 1936, "end_step": 1997, "id": "f3241ba8-fb62-4feb-af1f-8836abe1ff63"}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1998, "end_step": 2095, "id": "edce3d8c-a1f7-4bfa-89c2-1a37db9ab4a8"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "goal", "start_step": 2096, "end_step": 2165, "id": "ce7ed159-0301-4eb3-8ab7-76899854ae90"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2166, "end_step": 2295, "id": "27139636-6188-4f8b-8b87-075d8597b98d"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}, {"label": "home", "start_step": 2333, "end_step": 2364, "id": "tjCchmprXMonM6tqEEKtU"}], "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}], "episode_index": 32}
+{"source_uid": "b56a1a23f7463f01", "num_frames": 1910, "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "88c3d9f4-1031-4fbb-8c9a-254f7cccd910"}, {"label": "valid", "start_step": 0, "end_step": 1881, "id": "sQQXCk9nlJ6kONG3NGBbE"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 115, "end_step": 228, "id": "a623583e-d75e-43b4-870e-1cce56ab6fa5"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "goal", "start_step": 229, "end_step": 304, "id": "5afef8a3-0115-4a17-aa79-c8b72e690598"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "goal", "start_step": 305, "end_step": 412, "id": "353e7bfc-e7f0-411e-b469-e210c6ee1888"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "goal", "start_step": 413, "end_step": 462, "id": "243c45ed-2d44-4588-84da-31154a32d60c"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 463, "end_step": 634, "id": "42222b42-e8d8-48df-bbb6-c8d253f73f84"}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "goal", "start_step": 635, "end_step": 702, "id": "cb09257a-37e5-4bb6-b85c-a45c5a63a0ac"}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "goal", "start_step": 703, "end_step": 822, "id": "3d1ce83f-079a-40ae-bb36-f1a05a650ba0"}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": "goal", "start_step": 823, "end_step": 874, "id": "368d3ad8-29e0-436d-a662-c228a60fa742"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 875, "end_step": 986, "id": "ba425457-2874-4365-9b24-af70d37b2062"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "goal", "start_step": 987, "end_step": 1044, "id": "5e381de3-2e8f-48aa-ac33-aa7ca4f3d249"}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1045, "end_step": 1162, "id": "f845ac5b-3ffb-4e46-8473-6c264930cbde"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 1163, "end_step": 1244, "id": "8f4a2d6a-3289-440b-b88a-42252cc689fc"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "2b6c1315-4fed-4481-a20a-60ec684a6184"}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "goal", "start_step": 1341, "end_step": 1500, "id": "6b6e26e5-66ec-4019-baee-50847d3eee49"}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1634, "id": "94fe5c8e-0429-4b07-9a1f-7ac204f45f2a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1635, "end_step": 1704, "id": "36da88a9-1e0c-4389-a785-c45e845fada7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1705, "end_step": 1840, "id": "a83ba1b9-5add-4200-983f-a06c0d8b7577"}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}, {"label": "home", "start_step": 1882, "end_step": 1909, "id": "EabqkK9pzAkoWDr48N-5i"}], "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}], "episode_index": 33}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da573eb84be8cd6ae169b86ac75ddda0988e5b93
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,34 @@
+{"source_uid": "feeb6a63426dcda1", "num_frames": 2414, "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "5cf8fa9c-8f57-4fa3-a437-725413e2c8b4"}, {"label": "valid", "start_step": 0, "end_step": 2381, "id": "3s4rTW6tEJtgOk3gDWik5"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 153, "end_step": 332, "id": "12f3b6c7-80dd-4a00-8e21-d05a56c99e72"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 333, "end_step": 604, "id": "30a98191-d8dc-48ee-a7a2-6a06a8a50451"}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "goal", "start_step": 605, "end_step": 816, "id": "abdfd6d6-6680-46cd-a81b-2836207e1d47"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "goal", "start_step": 817, "end_step": 916, "id": "00619ea9-03f4-4a87-91be-a4ea5996c172"}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "goal", "start_step": 917, "end_step": 1066, "id": "63684d0a-cb1b-4cd6-af88-a4390f960cc7"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "goal", "start_step": 1067, "end_step": 1144, "id": "4fd517cb-0ddb-4a17-90e7-46f3467d9401"}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 1145, "end_step": 1294, "id": "f9f4476b-6c5b-4672-8e38-05cca3c1d426"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1295, "end_step": 1370, "id": "0644c07f-64f5-496c-8a7b-1c373eeba1c8"}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "342c819f-ae54-43be-b6a0-8e6fe5fa97d3"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1515, "end_step": 1576, "id": "01e1dba4-6bfd-40ab-b288-8eb3264909c5"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1577, "end_step": 1702, "id": "f51df855-e08e-46b3-871a-5eec83aa8135"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1703, "end_step": 1782, "id": "71d2f72c-e1a0-417f-8f10-85fbb656e8fb"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1783, "end_step": 1924, "id": "797f7ede-768a-4591-88df-36ebb5491b13"}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "goal", "start_step": 1925, "end_step": 1990, "id": "aaba36c0-0d81-4325-8c52-a516512581b2"}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "goal", "start_step": 1991, "end_step": 2122, "id": "bf72dc8b-371b-4c2b-a150-594a9d05277e"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "goal", "start_step": 2123, "end_step": 2196, "id": "11ac9388-aa36-4038-9c24-190a2ba2f8cf"}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "goal", "start_step": 2197, "end_step": 2344, "id": "81f43a9f-019e-4ff9-a495-c575a4443849"}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}, {"label": "home", "start_step": 2382, "end_step": 2413, "id": "FEcmWbtmuZsoNwVW9-G36"}], "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 without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty at the right home position without obvious displacement or contact with any objects."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and left from the right home position toward the green hexagonal block resting on the table in front of the wooden peg board, staying out of contact with any objects during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, closes fingers around the block and adjusts finger positions to establish a grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand moves the grasped green hexagonal block upward to completely lift it off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block over the target purple assembly peg, aligning the block's central hole with the peg to begin assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple peg until the block rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the block assembly rack toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 375, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut slightly to adjust its orientation, with negligible translational movement."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand lowers the grasped white hexagonal nut until it rests stably on the table surface, with fingers opening to release the nut."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty adjacent to the white hexagonal nut on the table with no observable movement."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal nut on the black table surface to secure a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully raised off the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the area above the purple posts on the wooden block assembly."}, {"label": "subtasks", "start_step": 652, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the target purple post."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut down along the purple post until the nut rests stably on the green base below."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place_release: Right hand holds the white hexagonal nut, lowers it to the corresponding purple post on the wooden base until the nut is stably supported, and opens fingers to release grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 878, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the table, moving it upward to the position above the target purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 960, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut gradually to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the white hexagonal nut near the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small wrist and finger adjustments to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and forward from above the wooden assembly base, approaching the front green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, closing fingers and adjusting contact positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and rightward to position it directly above the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward along the rod until it rests stably on the supporting white block beneath."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward empty from the area above the wooden pegboard toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the pegboard and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves down and right toward the upper loose white hexagonal block on the black table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 1748, "end_step": 1807, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the upper loose white hexagonal block on the table, making small adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward and leftward to the position above the purple cylindrical rod on the wooden block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple cylindrical rod fixed on the wooden block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: place: Right hand lowers the aligned white hexagonal nut along the purple cylindrical rod until the nut rests stably on the top of the underlying white component on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: idle: Right hand remains empty above the right side of the wooden block assembly without any observable movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp of the nut."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and leftward to the position directly above the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate_release: Right hand aligns the grasped white hexagonal nut with the purple post on the wooden block assembly, lowers the nut to fit snugly onto the post, and opens fingers to release the nut onto the post."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the white block with purple top placed on the wooden tray."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: reach: Right hand moves downward and right, empty-handed, toward the green hollow block resting on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: grasp: Right hand closes fingers around the green hollow block, making slight grip adjustments to establish stable contact with the object."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: mate: Right hand aligns the central hole of the green block with the target peg on the rack and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement, rotation, or contact with any objects throughout the interval. | Right hand: release: Right hand opens fingers to release the green block resting stably on the target peg."}], "episode_index": 0}
+{"source_uid": "a0c3fdd16c548908", "num_frames": 2231, "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_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "70e6e44f-5ffa-4fba-9b21-0eb49168d010"}, {"label": "valid", "start_step": 0, "end_step": 2196, "id": "knFtldoanELG3arpsfZnf"}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 252, "id": "589dc0f3-787e-42dc-88ea-4fb996e53051"}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 253, "end_step": 324, "id": "c37cfdac-3cbd-4e6e-9c57-2e2346b1df32"}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "goal", "start_step": 325, "end_step": 468, "id": "50e7fa64-be59-4ed4-8577-f428c8864696"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "goal", "start_step": 469, "end_step": 538, "id": "ea91f42a-bcd9-4a7f-b1ad-b8e5c82b079e"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 539, "end_step": 682, "id": "1672d8ba-5a2c-4386-97b4-abb535b768eb"}, {"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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 683, "end_step": 748, "id": "93a14d33-a770-4730-920f-8235e284f24d"}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 749, "end_step": 916, "id": "c44133f8-46cc-4390-bfce-5ccb7486292f"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "84a560d2-9f74-478f-ac23-c9b9067975b2"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "goal", "start_step": 987, "end_step": 1262, "id": "c9f22f0b-81c6-4014-b0ea-80ba63d4d525"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1263, "end_step": 1346, "id": "0c84eeb7-32d3-4cca-b215-501cfe9f2aa0"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1347, "end_step": 1462, "id": "e60a93dd-9783-4b0a-819c-95f372d1964f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1526, "id": "d6d5607c-695c-498a-b953-c8ea6707276f"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1527, "end_step": 1670, "id": "f27edf5d-61c4-4a23-bebc-b6154fbb25df"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "c4373a07-4e00-4987-9310-7c32ab0da5d8"}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1741, "end_step": 1864, "id": "8f5d4d6f-a165-44c4-93bd-867759ec0662"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "goal", "start_step": 1865, "end_step": 1928, "id": "388dbe13-caac-4087-9a64-e654d6d2b82f"}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2164, "id": "4cefa2ac-56ec-4ab0-9161-230b0ee7bf89"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}, {"label": "home", "start_step": 2197, "end_step": 2230, "id": "BtTBlLohmUa4617_x8K-5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_wrist_adjust: Left hand slightly flexes fingers and rotates wrist 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 green hexagonal block in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 44, "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 in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "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 fingers around the green hexagonal block and adjusts its grip to stabilize the block."}, {"label": "subtasks", "start_step": 90, "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 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, adjusting fingers to form a stable grip."}, {"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 and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "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, lowering it to fit fully onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "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, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 232, "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 leftmost green block on the peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "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 hexagonal ring onto the left-front peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "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 reaches downward toward the green hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "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 green hexagonal ring on the black table with slight finger adjustments."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "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 table surface while moving it to the position above the leftmost purple peg on the green-based assembly."}, {"label": "subtasks", "start_step": 368, "end_step": 441, "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 nut onto the leftmost purple peg, lowering it until the nut rests on the green base of the assembly."}, {"label": "subtasks", "start_step": 442, "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: release: Right hand releases the white hexagonal nut by opening its fingers, separating from the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00016", "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 away from the assembled white hexagonal nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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": 518, "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 grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the 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 transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "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 leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 from the upper area of the peg board to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 712, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00024", "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 surface and transports it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 914, "id": "reasoning-language-00025", "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 target purple peg of the peg board, adjusting the block's position to fit it down onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_release: Right hand transports the white hexagonal block downward along the purple peg and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00027", "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": 945, "end_step": 967, "id": "reasoning-language-00028", "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": 968, "end_step": 989, "id": "reasoning-language-00029", "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 surface without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 from the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "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: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1259, "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 purple peg without moving."}, {"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 table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00034", "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 ring on the purple rod while moving downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "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 part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "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 part from the table and transports it to the upper area of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "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 part with the purple rod on the wooden rack and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "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 piece on top of the rightmost cylinder stack on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "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 and rightward toward the upper white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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 piece on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "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 piece off the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 mates the white hexagonal piece onto the purple peg on the wooden base, aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "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 white hexagonal piece from its grip, leaving it on the purple peg."}, {"label": "subtasks", "start_step": 1658, "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: retreat: Right hand moves slightly rightward away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 from the wooden block base area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "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 around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "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 block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "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 white hexagonal block onto the purple rod of the wooden rack and releases its grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00049", "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 rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "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 front-right white bottle with a purple top on the wooden rack, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "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 downward to reach the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 green cubic block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00053", "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 table and transports it upward and leftward to the position above the front-right purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2144, "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 cubic block with the front-right purple-topped bottle, aligning the hole of the block with the purple post and inserting the block downward until it is fully fitted on the bottle."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases its grip on the green cubic block on the bottle and moves slightly away from the block."}], "episode_index": 1}
+{"source_uid": "31ce23b3576bd81b", "num_frames": 3203, "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "9c9d186b-a501-4371-8640-720c07f8b5ab"}, {"label": "valid", "start_step": 0, "end_step": 3169, "id": "Iu3B5wMBVGcANyNcmiv9B"}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 113, "end_step": 272, "id": "796491c0-8206-4be1-8e0e-0a233824453b"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 273, "end_step": 330, "id": "e92c63f4-85b2-4651-b7d2-b28046d532c1"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 331, "end_step": 898, "id": "ec3feeaa-b67f-4aed-aa62-be39c9ae8370"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 899, "end_step": 1076, "id": "3923ae2f-afee-4920-b4bc-3dc500be2200"}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1077, "end_step": 1244, "id": "7a302ce5-afaf-4d7b-88e1-fbb0ac696a4c"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "ca2ecec1-ef61-48eb-bb5f-534b3d19ac03"}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1341, "end_step": 1472, "id": "11ae9ce4-164e-4cbc-85da-d89956701924"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "goal", "start_step": 1473, "end_step": 1548, "id": "85d7eb75-bd86-4bdb-8bfa-d9c1d55ae6a2"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "goal", "start_step": 1549, "end_step": 1722, "id": "b1d5ae41-7d5e-41e9-b462-6ac9c01f41e9"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1723, "end_step": 1804, "id": "64f5bde6-8945-4e91-9a3b-b0a1158054d7"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "goal", "start_step": 1805, "end_step": 2096, "id": "6092d6a8-a3fb-4992-a557-2253ec839add"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "goal", "start_step": 2097, "end_step": 2168, "id": "3566ad32-ecec-4066-832b-8677c7f789d0"}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2169, "end_step": 2376, "id": "eae728de-748e-4709-9f46-46e6a33504fc"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "goal", "start_step": 2377, "end_step": 2458, "id": "897eab07-15be-43c8-bbaa-11aaa005878d"}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2459, "end_step": 2688, "id": "267cbfb8-f7ac-472c-9527-fc5b452ab24a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "goal", "start_step": 2689, "end_step": 2794, "id": "0f040ace-e184-4636-823c-aff13951b8cc"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "goal", "start_step": 2795, "end_step": 3134, "id": "af04ba09-9aa0-4a30-8d22-724c60a97488"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}, {"label": "home", "start_step": 3170, "end_step": 3202, "id": "w7IZbLQVVms2cRbplcjtD"}], "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 table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the tabletop, no contact with the block yet."}, {"label": "subtasks", "start_step": 45, "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 adjusts fingers to contact and grasp the green hexagonal block on the tabletop."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upward, making it completely leave the black tabletop."}, {"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 table without moving. | Right hand: transport: Right hand moves the green block horizontally toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the hole of the green block with the leftmost purple peg, then presses the block down onto the peg to complete assembly."}, {"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: Right hand releases the green block, fingers opening to separate from the block completely."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "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 downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "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 from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 501, "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 with the leftmost purple rod on the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "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 with fingers opening."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "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 block on the leftmost purple rod with fingers closing."}, {"label": "subtasks", "start_step": 570, "end_step": 659, "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 leftmost purple rod and transports it towards the adjacent purple rod."}, {"label": "subtasks", "start_step": 660, "end_step": 787, "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 with the adjacent purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00015", "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 with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "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 downwards and leftwards from the wooden block rack towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 930, "end_step": 1094, "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 adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 off the table and transports it to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1244, "id": "reasoning-language-00021", "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 secure it in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00022", "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 placed on the purple peg of the wooden base, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "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 reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "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 block off the table and moves it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00026", "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 onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00027", "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 peg to fit it in position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "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 on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "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 peg of the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 towards the green block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "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 adjusts fingers to form stable grip on the green block on the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "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 block off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00034", "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 purple peg to the bottom position."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "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 black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00038", "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 tabletop and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1868, "end_step": 2084, "id": "reasoning-language-00039", "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00040", "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 purple post of the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylindrical block from its grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "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 towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2369, "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 target peg on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "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 bottle with purple rod placed on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "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 white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "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 contacts and closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00049", "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": 2505, "end_step": 2617, "id": "reasoning-language-00050", "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, pressing it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2618, "end_step": 2631, "id": "reasoning-language-00051", "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 to separate from the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod towards the right side of the frame."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "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 white bottle on the right column of the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "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 moves toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green cubic block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "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 green ring stationary on the right side of the table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00057", "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 ring off the table and transports it towards the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2924, "id": "reasoning-language-00058", "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 ring with the opening of the rightmost white bottle on the wooden base and places it on the bottle top."}, {"label": "subtasks", "start_step": 2925, "end_step": 3134, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green ring downward along the rightmost white bottle to secure it and releases its grip on the green ring."}], "episode_index": 2}
+{"source_uid": "f88c07571895f118", "num_frames": 3338, "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "f7aa815c-94ca-401a-a68d-d6164505d3a4"}, {"label": "valid", "start_step": 0, "end_step": 3304, "id": "9ArBaI4R2PPnVrr7ZaXbk"}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 127, "end_step": 252, "id": "c6efb3a2-7ddc-4a20-8885-269c96674354"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"label": "goal", "start_step": 253, "end_step": 336, "id": "cf023dee-3e84-4bd0-a337-1417a30412fa"}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "goal", "start_step": 337, "end_step": 462, "id": "2f75c9f8-4ff0-4dd1-bafe-45bcba0ae05e"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "5616f542-f3fa-4eaa-9983-f4245f662c40"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "goal", "start_step": 539, "end_step": 672, "id": "dde5c213-6674-4ae0-aaa2-b067e50779f0"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "goal", "start_step": 673, "end_step": 756, "id": "47b8093a-4a88-40b7-a932-f0049c3ca3f3"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "goal", "start_step": 757, "end_step": 904, "id": "af8a1935-7083-4549-a17a-4b3a89f07fdf"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "goal", "start_step": 905, "end_step": 1012, "id": "c407210d-48bc-4480-ab0d-a633234a5528"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "goal", "start_step": 1013, "end_step": 1192, "id": "b2b2a519-9442-47b5-80f2-f3477470ec2d"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "goal", "start_step": 1193, "end_step": 1300, "id": "e50248b3-9452-48b9-9378-9e66afd7ffaf"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1301, "end_step": 1488, "id": "5c61735f-9285-442d-a9f9-1e854cdf58d4"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "goal", "start_step": 1489, "end_step": 1680, "id": "efc5ffe1-c3b9-43e4-81ae-476cf56bf143"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1681, "end_step": 2000, "id": "cb50b0da-d458-4956-9a6c-056b8aadf2a6"}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "goal", "start_step": 2001, "end_step": 2124, "id": "2079f41d-eca5-4d52-b479-e9ec22e0ab64"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "goal", "start_step": 2125, "end_step": 2768, "id": "d5d50ff5-2ea1-4371-8779-c5f00c557984"}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "goal", "start_step": 2769, "end_step": 2858, "id": "f014a59c-55bd-4375-9fc0-df76c64143a7"}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "goal", "start_step": 2859, "end_step": 3268, "id": "78641857-d5a3-4547-8a56-d552c31ae65c"}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3305, "end_step": 3337, "id": "oAY9VdfNCIO-L338fW4Pm"}], "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, with no noticeable movement toward any object across the segment. | Right hand: idle: Right hand stays empty at the right initial position without obvious movement or rotation."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward and to the left toward the green hexagonal nut on the black table in front of the wooden pegboard, fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand closes fingers around the frontmost green hexagonal nut on the table, making small adjustments to finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: transport_mate: Right hand carries the grasped green hexagonal block to the position above the purple peg, aligns the central hole of the block with the peg, and moves the block downward to seat it on the peg."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns and fits the white cylindrical component onto the purple vertical peg of the wooden assembly."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden assembly area toward the hexagonal blocks on the black table surface."}, {"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 workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, closing fingers and adjusting grip to establish a stable hold."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across 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, establishing the mated assembly state."}, {"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, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly stand without observable movement."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block on the black table surface, gradually approaching the target block."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 target purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand holds white hexagonal pieces, aligns each piece's central hole with a vertical purple peg on the wooden block assembly, lowers each piece to seat on the underlying stack, fingers opening to release each seated piece."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal piece resting on the dark table surface directly in front of the wooden block assembly, approaching the piece with open fingers."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the table near the wooden block base, forming a stable grasp."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to a position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the top of the purple cylindrical post for assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: hold: Right hand holds the aligned white hexagonal nut steadily above the purple cylindrical post without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple cylindrical post until it rests stably on the surface of the wooden block base."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple post of the wooden base and releases it, leaving the block stably supported on the post."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: reach: Right hand moves downward empty from the wooden base toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | 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 post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no noticeable movement toward any object across the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, makes slight positional adjustments, and moves the block downward to fit onto the post for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand moves leftward away from the wooden block assembly base, retreating from the block operation area. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the matching green post on the wooden block base and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: reach: Right hand moves downward with an empty hand, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the target white hexagonal block on the table, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward and forward to position above the target peg on the assembly base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden block base without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: reach: Left hand moves slowly rightward toward the leftmost stacked block on the wooden assembly base, with fingers extended, approaching the block surface. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the target peg on the assembly base, and fits the nut downward onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand remains in contact with the leftmost white hexagonal block on the wooden base, holding it steady without obvious movement. | Right hand: hold_release: Right hand holds the front white hexagonal block on the wooden base steady and opens fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost white hexagonal block on the wooden base and moves empty away from the base toward the left side of the workspace. | Right hand: reach: Right hand moves empty downward and right toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand repeatedly adjusts finger positions around the loose white hexagonal block on the dark table surface, opening and closing fingers to form a stable grasp while the block stays supported by the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the fitted white hexagonal nut on the purple rod, maintaining steady contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: press: Right hand presses vertically downward on the top of the white cylindrical block on the rack, making small adjustments to seat the block fully in its hole."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves down and to the right with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | 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 empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and attempts to insert it into the slot with small position adjustments."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the white hexagonal block, letting it fall onto the table surface below."}, {"label": "subtasks", "start_step": 2288, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2355, "end_step": 2541, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions and block orientation to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it upward and leftward back to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2595, "end_step": 2729, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden stand and inserts it into the slot with fine position and orientation adjustments."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: hold: Right hand holds the inserted white hexagonal block in the slot of the wooden stand without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand releases the rightmost white cylindrical object with a purple top on the wooden block, fingers opening and moving away from the object."}, {"label": "subtasks", "start_step": 2790, "end_step": 2819, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: reach: Right hand moves downwards toward the green cubic block on the dark table surface, holding no object."}, {"label": "subtasks", "start_step": 2820, "end_step": 2871, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making slight finger adjustments to form a grasp."}, {"label": "subtasks", "start_step": 2872, "end_step": 2909, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2910, "end_step": 3247, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align and fit it securely onto the top of the purple-capped bottle."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand stays in contact with the left edge of the wooden block rack, holding it steady without visible movement or finger shape change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 3}
+{"source_uid": "3eb8c376a146752b", "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 206, "id": "76920780-e1cf-4632-bed2-5729fae29f40"}, {"label": "valid", "start_step": 0, "end_step": 2190, "id": "rFarbcaMUEJ4eKwrZ2ilu"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 207, "end_step": 388, "id": "7400a031-c386-4c66-b1bb-be02432d9a36"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 389, "end_step": 506, "id": "b9a94684-bc8e-400d-a89f-0ca9a36b36c1"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 507, "end_step": 644, "id": "b281ca2a-099c-4c57-bc28-5dc47ce83e51"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 645, "end_step": 728, "id": "484cd979-ffe1-4435-8aa5-b4cef10b8c5a"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 729, "end_step": 862, "id": "9884f2dc-7155-4828-a151-9ebe6ee1849d"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 863, "end_step": 930, "id": "3295f31b-88dc-4847-a3f2-0238666f5c25"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 931, "end_step": 1096, "id": "17e82990-c4d0-4b75-b229-1d48068c9fdb"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1097, "end_step": 1168, "id": "faad3483-eea9-4d27-bab1-4afaa84e82cc"}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1169, "end_step": 1296, "id": "e37a2b15-2d1f-469b-947d-001ae8fa6d21"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "goal", "start_step": 1297, "end_step": 1368, "id": "a0b4316c-2099-4bcd-a0b0-8abfb0783edb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1369, "end_step": 1540, "id": "211e7df9-690f-4d51-b28c-98c66ed1e5e6"}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1541, "end_step": 1594, "id": "816192e5-ab31-4090-85d0-813c26fe8a52"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "goal", "start_step": 1595, "end_step": 1714, "id": "366290fa-1fc9-4f8b-b8c1-df0bf3207f34"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "goal", "start_step": 1715, "end_step": 1782, "id": "9c56dd1e-5f70-4bec-b1c1-103513749add"}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "goal", "start_step": 1783, "end_step": 1920, "id": "7132cb86-232e-4fa3-bad8-ce2d02f1f704"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2000, "id": "269b8d2d-4e25-48bf-beb8-6c616c83a6f5"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2001, "end_step": 2148, "id": "1abb5ee2-9486-4fc6-a2b2-f996f840000f"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}, {"label": "home", "start_step": 2191, "end_step": 2224, "id": "SMIHwW2X8c3qTkU1jZI0e"}], "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 toward the green hexagonal block on the table below the left side of the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "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 hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece from the table and transports it upward and backward to the position above the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 hexagonal piece with the vertical peg on the pegboard by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "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 hexagonal piece fitted on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "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 hexagonal block onto the leftmost green peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "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 topmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 471, "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 grasps the topmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "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 topmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "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 piece on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "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 piece from the table and transports it toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "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 piece onto the leftmost purple peg of the pegboard by aligning and lowering it."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "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 leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "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 ring onto the peg of the pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "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 workbench."}, {"label": "subtasks", "start_step": 682, "end_step": 749, "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 workbench with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "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 hollow block from the table and transports it towards the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "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 hollow block onto the leftmost purple peg of the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "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 hollow block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00022", "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 block onto the front purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "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 reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 951, "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 block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "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 block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1094, "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 mates the white hexagonal block onto the purple rod by sliding it down along the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1117, "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 places the white hexagonal ring onto the right purple peg on the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "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 moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block from the table and transports it upward to the top of the middle purple peg on the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the middle purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down the middle purple peg until it is supported by the white ring below."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00034", "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 middle purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "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: place_release: Right hand places the green square block onto the wooden board along the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00038", "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 toward the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00039", "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 rightmost purple peg of the wooden board, lowering it until it rests on the green base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00040", "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 peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "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 on the rightmost purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 reaches downward toward the upper white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "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 white hexagonal block on the table, with fingers closing and adjusting to secure a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 off the table and transports it leftward and upward to the area above the purple rod on the rightmost column."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand mates the white hexagonal block onto the purple rod, aligning the block's hole with the rod and lowering the block until it rests on the lower white block of the column."}, {"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: release_retreat: Right hand releases the white hexagonal block by opening its fingers, then retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "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 piece onto the rightmost purple peg and releases it by opening fingers."}, {"label": "subtasks", "start_step": 1732, "end_step": 1769, "id": "reasoning-language-00048", "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00049", "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 grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00050", "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 toward the wooden peg board."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "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 aligns the white hexagonal piece with the rightmost purple peg and slides it down to complete mating."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "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 white hexagonal piece on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the green square block on the table, empty-handed."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00054", "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, fingers close around the block."}, {"label": "subtasks", "start_step": 1980, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 1995, "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: grasp: Right hand grasps the green square block on the right table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00057", "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 bottle array on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2159, "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 fits the green square block onto the rightmost bottle of the array and releases the block."}], "episode_index": 4}
+{"source_uid": "f9612b149378ec6b", "num_frames": 2812, "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "d2ab2afb-e33e-4bde-9aef-90242845d9b0"}, {"label": "valid", "start_step": 0, "end_step": 2778, "id": "rCTFFYJQDXRmr3ypYMVaf"}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "goal", "start_step": 129, "end_step": 264, "id": "34edda0d-846d-4a3e-8f09-df0f3e4dbb13"}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 265, "end_step": 406, "id": "58f9832d-90e8-4119-b70f-88a3a547ac5e"}, {"label": "subtasks", "start_step": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 407, "end_step": 572, "id": "2e4adf39-6107-4723-8f1d-92e4e13d49f5"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 573, "end_step": 640, "id": "c36b9624-8323-4458-ad0e-88a3ebf332bd"}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "goal", "start_step": 641, "end_step": 766, "id": "00300177-62b2-49f9-87cd-f65849f82308"}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 767, "end_step": 836, "id": "e29f713d-1bcd-451d-bb39-49432bce0018"}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 837, "end_step": 984, "id": "1501826e-a5b4-402b-a311-82d012fa540d"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1104, "id": "9707b1a6-7ea7-4226-8fca-29c2846dc7d1"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1105, "end_step": 1244, "id": "e929f48e-9bbe-44b3-8a0a-31c8f9b82c85"}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 1245, "end_step": 1306, "id": "dfaf9d0e-bd0e-44be-9f7d-718098b48050"}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "goal", "start_step": 1307, "end_step": 1842, "id": "1ae042ff-8783-4da0-b7a5-3e83fde456d5"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "goal", "start_step": 1843, "end_step": 1930, "id": "03a5a348-846e-492a-af16-c3627e68962a"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1931, "end_step": 2270, "id": "4f101075-1e38-4ac7-94d7-e29e23904b24"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 2271, "end_step": 2316, "id": "d7acb861-f188-4692-b743-cd8a2c1308ac"}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2317, "end_step": 2480, "id": "c7b32b7e-3b73-41d8-86b6-93dffdac8e88"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "goal", "start_step": 2481, "end_step": 2548, "id": "82526737-e4ee-4215-8360-8e82c259c863"}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2549, "end_step": 2734, "id": "1c7cfefb-7bd5-486e-8c9f-1857d48c040e"}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}, {"label": "home", "start_step": 2779, "end_step": 2811, "id": "AV2cOuOkro6pJXTuyEiLZ"}], "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 table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 45, "end_step": 81, "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 to establish a stable grip."}, {"label": "subtasks", "start_step": 82, "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 block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "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 table in front of the purple pillar assembly."}, {"label": "subtasks", "start_step": 150, "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: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "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 pillar."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "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 block onto the leftmost purple pillar by lowering it down."}, {"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 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": 285, "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: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "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 adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "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 on the black tabletop without moving."}, {"label": "subtasks", "start_step": 405, "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: grasp: Right hand grasps the white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "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 off the tabletop and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 450, "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 aligns the white hexagonal block with the purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00015", "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 peg and moves slightly away."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "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 moves downward from above the wooden base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "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 fingers to grasp the white hexagonal block on the table, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 660, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "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 peg and fits it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "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 hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "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 closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hexagonal block upward away from the black table."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 moves the white hexagonal block upward to the position above the target purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "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 opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "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 sleeve onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "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 moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1124, "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, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "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: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "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 aligns the green block with the purple peg and inserts the block down onto the peg."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00032", "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 green block to the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "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 black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "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": 1350, "end_step": 1379, "id": "reasoning-language-00036", "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 toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "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 hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to fit onto the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00039", "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 slightly off the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the orientation of the white hexagonal block in mid-air."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00041", "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 back onto the purple rod and presses it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "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 wooden base and moves away from the base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "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 towards the white hexagonal block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "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 tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple rod, inserts it downward and presses to fit the block onto the rod stably."}, {"label": "subtasks", "start_step": 2258, "end_step": 2264, "id": "reasoning-language-00047", "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 and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00048", "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 top of the building block set towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00049", "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": 2332, "end_step": 2369, "id": "reasoning-language-00050", "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 position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "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 aligns the white hexagonal block with the purple rod and inserts it onto the rod until it is placed stably."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00053", "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 purple post on the wooden base and moves towards the green block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00054", "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 table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2579, "id": "reasoning-language-00055", "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 until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00056", "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 above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2729, "id": "reasoning-language-00057", "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 target white post and inserts it down onto the post until it is seated."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00058", "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 which is now fixed on the white post."}], "episode_index": 5}
+{"source_uid": "f2f603a07c808a79", "num_frames": 1899, "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "5bd7b8e7-200c-4bba-967b-0c8940022552"}, {"label": "valid", "start_step": 0, "end_step": 1865, "id": "y03g1rI5dReJQYHB7jBas"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "c247f88d-b296-4367-8b76-fcfe6494f651"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "goal", "start_step": 273, "end_step": 374, "id": "a55a8d77-520e-4839-b8e0-80d921c6c9e3"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 375, "end_step": 502, "id": "3bea8261-7b2a-450e-8e01-35b8f2570d65"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "32c3d569-ca27-4434-9a3f-2824cf22f7fb"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "goal", "start_step": 577, "end_step": 684, "id": "4a4ac891-f952-44ad-b632-f3e5aa8e6ccf"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "goal", "start_step": 685, "end_step": 742, "id": "05bbb994-b551-4ed9-945f-503fb33c6f38"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "goal", "start_step": 743, "end_step": 854, "id": "5b31e4a4-9626-4d69-8235-4826be4d4c90"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "goal", "start_step": 855, "end_step": 916, "id": "517f9bea-3f08-4596-a64d-125672078394"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "goal", "start_step": 917, "end_step": 1040, "id": "4c69bf81-d703-48a2-bc3f-fa6e0c3f9167"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "goal", "start_step": 1041, "end_step": 1090, "id": "8a4ab72b-8d2d-4f51-89e6-11773306b704"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "goal", "start_step": 1091, "end_step": 1212, "id": "b9c448af-a132-4c1b-a98d-dd8817c7ac5d"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "goal", "start_step": 1213, "end_step": 1273, "id": "7137fadd-aab2-4886-8934-3532ad8ecf83"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1274, "end_step": 1425, "id": "8045d729-81e0-4573-8321-c102074f90a6"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "goal", "start_step": 1426, "end_step": 1497, "id": "91ab85b3-e664-4c7c-aa37-4a99ddf4c86d"}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1498, "end_step": 1627, "id": "5f84c7a5-7329-426f-9bdf-897d11094a8e"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "goal", "start_step": 1628, "end_step": 1682, "id": "ea57fa54-a9c6-4c29-af46-a73d8901ce99"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1683, "end_step": 1832, "id": "cea25fff-e820-48f6-8608-1113a280b9e8"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}, {"label": "home", "start_step": 1866, "end_step": 1898, "id": "lDl1rQ_pb5bH_JfSzqC7M"}], "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 workspace without moving, with fingers slightly extended. | Right hand: idle: Right hand remains empty at the right initial position above the table without moving, with fingers extended upward."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward to separate it completely from the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: transport: Right hand moves the lifted green hexagonal block upward to position it directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block slightly to fit it onto the top of the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden pegboard toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target object."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut, making small finger position adjustments to establish a stable grip on the object."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut in a stationary position on the table surface, maintaining a stable grip with no observable movement of the hand or the nut."}, {"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 workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it to the position directly above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod, moving downward to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut positioned on the purple rod of the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal nut placed on the lower table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table surface to form a grip."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and moves it upward to the position above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal nut resting on the table in front of the assembly, approaching the nut with extended fingers."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table surface, adjusting finger contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface, moving the nut upward toward the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical rod on the wooden base, lowering the nut to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table surface to establish a firm grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the area above the purple peg on the block assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the gripped green hexagonal block with the purple peg on the wooden block assembly and lowers the block to nest onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the upper area of the peg assembly toward the white hexagonal nut resting on the black table surface, with fingers held open as it approaches the target nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut fully off the black table surface and moves it upward to position above the green vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the green vertical peg, making slight positional adjustments before lowering the nut to fit it onto the peg on the assembly base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand places the white hexagonal nut onto the top of the rightmost post on the wooden block, adjusting the nut until it is stably supported."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the table near the wooden block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | 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": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward and leftward to position it directly above the purple post on the wooden block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: hold: Right hand holds the white hexagonal nut steadily above the purple post without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: place: Right hand moves the grasped white hexagonal nut downward along the purple post until the nut is stably supported by the nut below it on the post."}, {"label": "subtasks", "start_step": 1425, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the placed white hexagonal nut on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves downward from the area near the block stand toward the white hexagonal nut on the table, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes 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": 1515, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and carries it upward and leftward to the position above the purple post on the block stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the purple post on the stand, lowering the nut to fit onto the post and establish the assembled connection."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 1620, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: reach: Right hand moves from the area near the purple-topped bottle downward toward the green square block on the table, remaining empty with open fingers until reaching the block surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: lift_transport: Right hand lifts the grasped green square block upward off the table, then moves the block up and left to the position directly above the purple-topped bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: mate: Right hand aligns the held green square block with the purple top of the bottle below, then moves the block downward to fit it securely onto the bottle top."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: release: Right hand opens its fingers gradually to release the green square block fitted on the bottle top, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, with fingers slightly extended. | Right hand: retreat: Right hand moves upward and rightward away from the assembled green block and bottle, remaining empty."}], "episode_index": 6}
+{"source_uid": "4725bc20307b68e8", "num_frames": 2313, "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_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "c0499bae-6416-4d2f-9d33-e990485054fe"}, {"label": "valid", "start_step": 0, "end_step": 2280, "id": "LgFGVPjby_xGHu4iIP1hr"}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"label": "goal", "start_step": 115, "end_step": 236, "id": "553aebdb-2c41-437f-b12f-217742e01d34"}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "goal", "start_step": 237, "end_step": 300, "id": "35b8575d-6d3e-4d92-ba6b-d66f0684024a"}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 301, "end_step": 428, "id": "799b3653-86f0-4785-ab9e-ac4aa5ecfc79"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "goal", "start_step": 429, "end_step": 494, "id": "73ffdc46-9738-44ef-a13f-0d525174f261"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 495, "end_step": 628, "id": "c1250521-cfc7-4138-b124-422df7717a22"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 629, "end_step": 704, "id": "95739424-834b-48ae-9e32-fd1cbc08e4f5"}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 840, "id": "dc40c019-50f4-4a11-9ecb-4f4eab85f4b0"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 841, "end_step": 910, "id": "46b460d8-0a68-45a8-acb8-6fa14d98db23"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 911, "end_step": 1042, "id": "c80fd75e-e211-4f25-8ef8-961cff308897"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "goal", "start_step": 1043, "end_step": 1106, "id": "ea04d9f6-6926-4b19-a34a-b25454fcf6ec"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 1107, "end_step": 1278, "id": "b2f7712f-3342-4b46-b294-10e816e7f080"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1279, "end_step": 1356, "id": "87f4c209-1cdd-406c-b683-6c24554432c9"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "goal", "start_step": 1357, "end_step": 1476, "id": "e5319563-7663-4613-9297-c73cb5a58344"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1477, "end_step": 1702, "id": "966dd3ce-38fe-4933-97cd-bf5f5ae42b0e"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1703, "end_step": 1918, "id": "00daf765-e040-4f6f-bb40-13e2e13bdd67"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "goal", "start_step": 1919, "end_step": 1988, "id": "9d1a9e9c-3faf-456a-8827-ba54b0b8f379"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "goal", "start_step": 1989, "end_step": 2240, "id": "6e668818-b4cd-4610-bf5f-0a19e2ec0a6d"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2281, "end_step": 2312, "id": "5ZYpNqcBmUMS9YfLTEwPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its finger and wrist posture slightly at the left side of the table. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 leftward and downward toward the green hexagonal piece on the black table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece in front of the wooden base with fingers closing around it."}, {"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 moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "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 fits the green hexagonal block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "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: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 column onto the purple rod on the wooden board and releases its grip."}, {"label": "subtasks", "start_step": 248, "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 moves downward toward the white hexagonal column on the black table surface."}, {"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 column on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "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 transports it toward the peg board with purple rods."}, {"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 table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the left-front purple rod on the peg board, lowering it onto the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00012", "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 left-front purple rod to seat it fully."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "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 block on the left-front purple rod without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "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 downward from the area above the leftmost purple peg to approach the white hexagonal block on the black table, empty-handed."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "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 block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "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 fully leaves the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00017", "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 area above the leftmost purple peg."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "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 mates the white hexagonal block with the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "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 leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg area, empty-handed."}, {"label": "subtasks", "start_step": 615, "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: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg of the wooden base."}, {"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 block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "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 block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 block off the table and transports it to above the middle purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand slides the white hexagonal block down along the middle purple rod to the bottom support and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "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 assembly area toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00028", "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": 915, "end_step": 929, "id": "reasoning-language-00029", "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 upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00030", "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 upward and forward to the position above the middle peg of the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "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 aligns the green hexagonal block with the middle peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "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 components on the right side of the wooden base, with fingers opening and lifting away from the objects."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "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 reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "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 black table surface, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "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 block off the table surface and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "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 mates the white hexagonal block with the purple peg on the wooden base, aligning the block and lowering it onto the peg until fully seated."}, {"label": "subtasks", "start_step": 1208, "end_step": 1267, "id": "reasoning-language-00037", "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 without moving."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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 block on the purple peg, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "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 toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "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: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "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 from the table and moves it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1395, "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: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00043", "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 peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "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 downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "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 its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_pose: Right hand adjusts the position and orientation of the grasped white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "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 white hexagonal block with a hole on the black table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "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 hexagonal block from the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "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 hexagonal block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1904, "id": "reasoning-language-00050", "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 rod without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap onto the purple rod of the rightmost lower bottle on the wooden rack and releases the cap."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00052", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00053", "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."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00054", "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 hollow block from the table surface and transports it towards the rightmost column of the middle block set."}, {"label": "subtasks", "start_step": 2032, "end_step": 2234, "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 green hollow block with the rightmost white column, inserts it onto the column, and adjusts its position to complete the assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "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 releases the green hollow block, with fingers opening and separating from the block."}], "episode_index": 7}
+{"source_uid": "de63a19283a52074", "num_frames": 2268, "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: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "5f24c1fd-5251-4d7f-9538-6d080cd75a2a"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "4snvr5FY8zirJXOn8yD8x"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "c41ed086-caf6-42e1-ae29-adf169c2379d"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "goal", "start_step": 263, "end_step": 318, "id": "91f08658-ec06-4763-be91-26cf17747d7a"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "goal", "start_step": 319, "end_step": 440, "id": "ee787952-a4a5-48d4-bc44-a19139b57cd7"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"label": "goal", "start_step": 441, "end_step": 508, "id": "9e30871e-6004-4386-94a5-aa93dac631c1"}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "goal", "start_step": 509, "end_step": 636, "id": "5fcd9456-7f17-44d6-9d93-8ca6a2be3e32"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "goal", "start_step": 637, "end_step": 690, "id": "ca662b34-b709-443c-b047-755d6f48b6c2"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "goal", "start_step": 691, "end_step": 898, "id": "bfbedeca-35ab-4559-b8b6-7b622e1f2bef"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 899, "end_step": 968, "id": "f1a62489-5c5a-4975-8eb3-8244706afe49"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 969, "end_step": 1096, "id": "ab74144b-1082-4858-a125-c47ddd9c6e16"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "goal", "start_step": 1097, "end_step": 1166, "id": "6e36c7eb-998a-4ddd-aac7-bc5aff904a41"}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1167, "end_step": 1340, "id": "a5c9c466-6a11-4aa0-9492-f451a5e37667"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "goal", "start_step": 1341, "end_step": 1412, "id": "ff30526e-d82b-4207-9eb1-5e464b9b0d9e"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1536, "id": "b03bc50f-49a9-48c6-81f1-8926308dfe5b"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "goal", "start_step": 1537, "end_step": 1606, "id": "c2c64cce-c124-4188-8ce4-2e7910c82c27"}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "goal", "start_step": 1607, "end_step": 1728, "id": "6469a593-68aa-4ce3-bdb8-f77cc993bf84"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "goal", "start_step": 1729, "end_step": 2042, "id": "8176d90c-6b77-4119-8d07-fad79a25ae5d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "goal", "start_step": 2043, "end_step": 2204, "id": "73620ded-55aa-4990-8028-feea7b22d9be"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}, {"label": "home", "start_step": 2236, "end_step": 2267, "id": "-_bG7owt4Elo5D_Og-6tw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts finger posture slightly at the left side of the table without obvious position displacement. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "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 toward the green hexagonal block placed on the black tabletop, approaching the target object."}, {"label": "subtasks", "start_step": 75, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "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 to the position above the leftmost front purple peg of the wooden base."}, {"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 table. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost front purple peg, then fits the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "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 hexagonal block onto the purple rod of the wooden base and then releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00008", "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 tabletop with fingers closing."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "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 from the tabletop and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "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 target purple rod on the wooden base and inserts it into position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "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 after it is properly placed on the purple rod."}, {"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 table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00013", "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 surface, fingers close and adjust to establish stable grip on the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00014", "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 transports it towards the front-left empty purple peg of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the front-left purple peg, moves downward until the block is fully supported by the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "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 releases the placed white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "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 it."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "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": 720, "end_step": 771, "id": "reasoning-language-00020", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "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 block onto the purple rod of the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00022", "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 which is already fitted on the purple rod."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the green hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00025", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1094, "id": "reasoning-language-00027", "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 white peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "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 sleeve from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00029", "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": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00031", "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 from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00032", "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 target purple peg to prepare for assembly."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00034", "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 on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00035", "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 block onto the purple peg on the wooden base and releases grip on the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00036", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "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 hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00038", "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 block and transports it above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hollow hexagonal block onto the purple vertical rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00040", "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 block by opening fingers."}, {"label": "subtasks", "start_step": 1522, "end_step": 1529, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves upward away from the purple vertical rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00042", "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."}, {"label": "subtasks", "start_step": 1560, "end_step": 1627, "id": "reasoning-language-00043", "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 it."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00044", "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 ring from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00045", "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 ring with the purple post and lowers it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1725, "end_step": 1731, "id": "reasoning-language-00046", "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 ring that is already fitted on the purple post."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps and adjusts the white cylinder with purple top placed on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient_release: Right hand rotates the green block to adjust its orientation, then releases the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table again."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp_release: Right hand briefly grasps the green block then releases it."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves empty towards the green block on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2061, "id": "reasoning-language-00054", "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 block and adjusts its position on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00055", "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 ring-shaped object from the desktop and transports it towards the top of the white block shelf."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "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 ring-shaped object with the white cylindrical block at the right side of the shelf and inserts it downwards."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "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 ring-shaped object, fingers open and separate from the object."}], "episode_index": 8}
+{"source_uid": "20cf0f55485f3e96", "num_frames": 2190, "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": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "goal", "start_step": 0, "end_step": 131, "id": "ec0a8284-a74a-46cc-99fb-b202960ffb1a"}, {"label": "valid", "start_step": 0, "end_step": 2159, "id": "SGAETsWYjMtsLL4mro4kR"}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "goal", "start_step": 132, "end_step": 317, "id": "808eeb64-5bbd-4dc1-93cc-8c5ef6320b1e"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 318, "end_step": 403, "id": "f59b4878-ad7b-42e8-a895-d27ce9653626"}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "goal", "start_step": 404, "end_step": 541, "id": "9421a49b-7eb2-427c-997d-08f375d6cb9e"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 542, "end_step": 651, "id": "b480a561-9281-499f-b6e1-dd38e7c6148d"}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "goal", "start_step": 652, "end_step": 805, "id": "31aa75bc-7698-44dc-8788-d5529054470b"}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "goal", "start_step": 806, "end_step": 885, "id": "93aa7cfc-ef90-454c-8e28-74b7aae4e9cd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "goal", "start_step": 886, "end_step": 1055, "id": "19cda1a2-1940-40ca-8d02-f182ac86d370"}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "goal", "start_step": 1056, "end_step": 1125, "id": "908ef127-4ceb-4bf2-8354-e1c5cd20233e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 1126, "end_step": 1275, "id": "40831c15-836f-4a75-9f33-c681568a6131"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "goal", "start_step": 1276, "end_step": 1343, "id": "540b14eb-2681-4b6c-a546-b05d1ce017cf"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "goal", "start_step": 1344, "end_step": 1497, "id": "aad94708-4b29-4925-92fe-7d8dc14997d5"}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1498, "end_step": 1575, "id": "c0678055-9528-4efa-916f-bd22cebc3933"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1576, "end_step": 1707, "id": "57d549e9-811f-4f38-9c8a-b9ee2215f8e8"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1708, "end_step": 1775, "id": "0384ec77-d96f-4dd4-a6ab-d41f31257aa1"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 1776, "end_step": 1889, "id": "462ad151-5272-43d1-b3bd-59c8e704afbf"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1890, "end_step": 1969, "id": "6e0a19ba-5add-4f84-92ac-784065fc9c39"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "goal", "start_step": 1970, "end_step": 2129, "id": "ab6484b1-93ab-4572-9ed1-46d7b8f9aa0d"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}, {"label": "home", "start_step": 2160, "end_step": 2189, "id": "oF46G2MdRKFXqWrBvEf1h"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from its initial upper right position toward the green hexagonal block on the table adjacent to the wooden peg base, holding fingers open during the approach movement."}, {"label": "subtasks", "start_step": 105, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand brings fingers into contact with the target green hexagonal block on the table, adjusting finger positions to begin forming a stable grasp on the block."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface, then moves it directly to the position above the target purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 180, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, moves the block downward to fit onto the peg, and makes small adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the wooden peg base toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the targeted purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit the nut onto the rod, adjusting position to maintain alignment during assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves empty downward and forward from the area above the wooden block stand, approaching the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, adjusting finger positions and closing fingers around the block to establish a grip, without lifting the block from the table."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 794, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns and fits the nut onto the purple vertical rod on the wooden assembly base, fingers opening to release the fitted nut."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface in front of the wooden base, approaching the target object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp on the nut."}, {"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 workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the dark table surface and moves it upward to the position directly above the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, fits it onto the post and makes small downward adjustments to position it along the post."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the rightmost purple rod on the wooden base, opening fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the table with an open empty hand, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table, adjusting finger positions and closing fingers to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving it upward and toward the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, lowering the block to fit it onto the rod to complete the nested assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block assembled on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: retreat: Right hand, now empty, moves downward away from the assembly stand."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward from the area near the wooden assembly block toward the white hexagonal nut on the black table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table and makes small grip adjustments to form a secure hold on the nut while it rests on the surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational 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": 1372, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple post on the wooden assembly base, stopping directly above the target post."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple post, then moves the nut downward to fit it onto the post until the nut is properly seated."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple post, with no observable movement of the hand, fingers or the assembled nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release contact with the top white block on the stacked assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the nearest white hexagonal block on the table to the right of the assembly, with open fingers and no contact with the target."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes and adjusts fingers around the contacted white hexagonal block on the table to establish a stable grip, with visible small wrist and finger movements."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand grips the white hexagonal nut on the black table surface and lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple rod on the wooden base, moving the nut directly above the top of the purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple rod, and lowers the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the white block mounted on the purple rod of the wooden assembly, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves diagonally downward toward the loose white hexagonal nut on the dark table surface, approaching the target with an open hand posture."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: transport: Right hand carries the held white hexagonal block upward and leftward toward the empty rod position on the assembly stand."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, and lowers the block to nest it onto the stacked block below."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block resting on the assembly stand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: release: Right hand releases the purple-topped cylindrical block on the wooden rack, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the green square block, fingers adjusting position and closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the green block fully off the black table and moves it upward and leftward to the position directly above a white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black workspace, staying stationary without contacting any operational objects. | Right hand: place_release: Right hand lowers the green block downward to place it steadily on the top of the white bottle on the wooden rack, opening its fingers to release the grasp on the block."}], "episode_index": 9}
+{"source_uid": "4e73e40859ba5a55", "num_frames": 2153, "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": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "1c406381-180a-48b5-ac96-4f57a238204f"}, {"label": "valid", "start_step": 0, "end_step": 2118, "id": "mTo3Z4vfe_gjIWlrw62S2"}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "goal", "start_step": 133, "end_step": 262, "id": "9e2fdb67-957e-4753-bf77-893e232872bd"}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"label": "goal", "start_step": 263, "end_step": 336, "id": "619e621b-dc14-4e02-a7b8-22adb38628eb"}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 337, "end_step": 474, "id": "ea268527-e294-476d-b117-221b26abf21b"}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 475, "end_step": 560, "id": "b8f28524-b61b-470e-b5e0-0f3c705a08e9"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "goal", "start_step": 561, "end_step": 700, "id": "bc21b1eb-0b72-47b3-938d-9d7ef7616515"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "goal", "start_step": 701, "end_step": 770, "id": "f1443ce1-9f5a-4c25-be9e-e0eedb708190"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 771, "end_step": 892, "id": "6da482b8-eb19-4575-8640-e712d88096cd"}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "goal", "start_step": 893, "end_step": 940, "id": "15a820d3-97c8-4318-8ab3-39ffa7b3a808"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 941, "end_step": 1110, "id": "da9a4477-0ab3-4212-9433-cca1a317bbf6"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1111, "end_step": 1178, "id": "26188c68-b913-412c-964c-533af839ddaa"}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1179, "end_step": 1304, "id": "ca85693b-6735-41c0-81e0-854ff6c5a0b0"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1305, "end_step": 1380, "id": "bb94d764-5c25-4251-afaf-2d83bc519f23"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "goal", "start_step": 1381, "end_step": 1492, "id": "016e052b-4652-4f1e-91ef-ead1a86d86e5"}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1493, "end_step": 1542, "id": "64b5ae5a-af41-461b-917e-24c168306dc1"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1543, "end_step": 1828, "id": "f2fe4ee2-cae8-4de1-bfb4-7e7f00245ac5"}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "goal", "start_step": 1829, "end_step": 1900, "id": "ffde345f-a08c-4102-9227-fedf6cd50455"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "goal", "start_step": 1901, "end_step": 2080, "id": "8c1ea5b0-8e5f-4820-a6a0-12eb4b87930a"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}, {"label": "home", "start_step": 2119, "end_step": 2152, "id": "l-zHwHxWxLScDUi_IT7ES"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 68, "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 block 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 block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 hexagonal block on the black tabletop in front of the pegboard, adjusting its grip to form a stable hold."}, {"label": "subtasks", "start_step": 158, "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: lift_transport: Right hand lifts the green hexagonal block from the tabletop while transporting it to above the leftmost top peg of the pegboard."}, {"label": "subtasks", "start_step": 172, "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: mate: Right hand mates the green hexagonal block onto the leftmost top peg of the pegboard, lowering the block down along the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost top peg of the pegboard without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places the green pegboard with purple pegs on the black table and releases it."}, {"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 table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 292, "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: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 360, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the top of the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "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 white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"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 table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "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 downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 grasps the white hexagonal block on the tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "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: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing to secure the part."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "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 part off the table and transports it upward toward the wooden peg board."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "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 aligns the white hexagonal part with the top peg of the peg board and fits it onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "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 part fitted on the top peg of the peg board without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 purple cylinder upward from the wooden peg board."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "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 purple cylinder downward toward the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the purple cylinder onto the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "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 white hexagonal block on the table near the wooden board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "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: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 mates the white hexagonal block onto the purple peg by aligning the block hole with the peg and lowering the block down."}, {"label": "subtasks", "start_step": 855, "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: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "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 peg by opening its fingers."}, {"label": "subtasks", "start_step": 885, "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: reach: Right hand moves downward toward the green hexagonal block on the black table near the wooden peg tray."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "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 closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block off the table and transports it upward toward the middle vertical peg on the wooden tray."}, {"label": "subtasks", "start_step": 975, "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: mate: Right hand aligns the green hexagonal block with the middle vertical peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00035", "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 middle peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1102, "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 by opening its fingers."}, {"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 from the upper block assembly toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "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 block off the table and transports it upward to the upper block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "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 block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "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 block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "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 from the purple rod on the wooden peg base toward the upper white hexagonal piece on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "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 upper white hexagonal piece on the table, with fingers closing around the piece."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "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 hollow cylinder from the right table surface upward and leftward to the area above the purple rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "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 hollow cylinder with the purple rod by aligning the cylinder hole with the rod and lowering the cylinder down the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "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 hexagonal hollow cylinder on the purple rod, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1485, "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: reach: Right hand moves downward from the position above the purple rod on the wooden rack to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "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 grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1560, "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: 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 on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1717, "id": "reasoning-language-00050", "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 block with the purple rod and lowers the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00051", "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": 1815, "end_step": 1844, "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 white cylinder with purple top on the wooden rack, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00053", "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 square block on the black table, moving down and right."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00054", "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 black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00055", "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 ring-shaped object off the table and transports it to the position above the front-right bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00056", "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-shaped object with the front-right bottle on the wooden rack, sliding the ring downward along the bottle to complete the nesting assembly."}], "episode_index": 10}
+{"source_uid": "eb3106b747608e30", "num_frames": 1913, "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "02881dfe-f01c-4928-87dc-bd727633bebd"}, {"label": "valid", "start_step": 0, "end_step": 1879, "id": "oB95DqVw5qdnrhDwynOuE"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 125, "end_step": 250, "id": "002aba7f-8c8c-4d2c-aa2e-6299147e29b8"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 306, "id": "07a4da69-13ac-454d-bffa-e84f412994a9"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 307, "end_step": 412, "id": "810343a4-411c-4369-977d-4e58ee4bc888"}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "8e5f1d89-245a-4430-a7c0-546f5cb52857"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 485, "end_step": 602, "id": "52a7cda8-2584-4742-85f0-ed64ce17ee79"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 672, "id": "48031adc-9d56-43a1-b295-0b9171a38cf5"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 673, "end_step": 780, "id": "e2bc82cc-8109-449e-a3a1-a553b56000cb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "goal", "start_step": 781, "end_step": 838, "id": "404b4946-e614-4c45-b534-036cf65def3e"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "goal", "start_step": 839, "end_step": 946, "id": "4c18154f-d65e-4fdc-99d6-cf2b019d2f9a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "goal", "start_step": 947, "end_step": 1027, "id": "ed404359-5730-4fd3-b586-5fe4cda71a2f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "goal", "start_step": 1028, "end_step": 1149, "id": "8d66f271-e06f-4518-bf39-4dfc11f6aa81"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"label": "goal", "start_step": 1150, "end_step": 1217, "id": "a06d88e0-fb6a-4887-81ed-2295e469acb8"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1218, "end_step": 1341, "id": "0a722039-322e-40ee-94ef-f0e67d579e3f"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1342, "end_step": 1389, "id": "4a11f1c6-0cac-4114-baab-b6f3be4974f8"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "goal", "start_step": 1390, "end_step": 1615, "id": "a9f4fc36-096d-4dd4-a553-58230d2caa80"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1670, "id": "a27b9cd5-6749-468f-80ea-10f4fcc96a1e"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "goal", "start_step": 1671, "end_step": 1840, "id": "eddc1451-450a-4dd3-981d-cd401f6d3ae2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}, {"label": "home", "start_step": 1880, "end_step": 1912, "id": "VriRrtEIwEpmLqO5h5FUY"}], "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 hexagonal block located in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "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 table."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"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 operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green cubic block on the black tabletop."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "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 aligns the green cubic block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00007", "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 cubic block that has been inserted on the purple rod 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 operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "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 towards the white hexagonal block on the black tabletop."}, {"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 operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"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 moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the grasped white hexagonal block upward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00013", "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 of the wooden base."}, {"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 moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "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 tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple columns."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "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 front purple column of the wooden rack and inserts it onto the column."}, {"label": "subtasks", "start_step": 592, "end_step": 599, "id": "reasoning-language-00019", "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 installed white hexagonal block on the front purple column without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00020", "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 held on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "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 white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "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 white hexagonal block from the tabletop and transports it upward to the position above the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "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 aligns the white hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00025", "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 that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "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 towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "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 its fingers to grasp the green hexagonal block on the table, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "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 hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "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: Right hand aligns the green hexagonal block with the purple peg on the wooden base and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "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 on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "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": 998, "end_step": 1041, "id": "reasoning-language-00032", "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."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00033", "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 towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00034", "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": 1140, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp_release: Right hand adjusts grip on the white cylindrical block on the green base of the building set, then releases the block."}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1334, "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 mates the white hexagonal block with the purple rod by inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1341, "id": "reasoning-language-00040", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "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 cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "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 cylindrical block on the black tabletop with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "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 white cylindrical block off the black tabletop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "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 white cylindrical block to the position above the rightmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1567, "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_release: Right hand mates the white cylindrical block onto the rightmost purple post by fitting it down the post, then releases the block."}, {"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 operating area without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden rack without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00048", "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 placed on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "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 block on the table."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00050", "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 moves it towards the bottle with purple protrusion on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00051", "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 protrusion of the target bottle, fits it onto the bottle, then releases the block."}], "episode_index": 11}
+{"source_uid": "ed4435a753b3fa7d", "num_frames": 2861, "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 slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "3604304a-21e7-4e23-a9b4-973dd3f50c6b"}, {"label": "valid", "start_step": 0, "end_step": 2825, "id": "ZUwC-x4TJteRGUR2csokV"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "goal", "start_step": 129, "end_step": 242, "id": "7a6e7f16-ee32-4ca4-a493-81324756a62f"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "goal", "start_step": 243, "end_step": 302, "id": "2badc2d3-18ba-4159-8e89-b291292f6d18"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "goal", "start_step": 303, "end_step": 448, "id": "e9bd8b57-2a8d-4d91-be56-c425b9d9d14d"}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "goal", "start_step": 449, "end_step": 536, "id": "7d92a177-4090-4bc5-a33e-1b063bd89c38"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 537, "end_step": 736, "id": "0eacf741-4072-4390-a138-cc190eb6afb4"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "goal", "start_step": 737, "end_step": 802, "id": "e4b2d993-3e1a-41de-b7eb-3a6aa280ffdd"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 803, "end_step": 976, "id": "7973ed70-216d-4ec8-9d79-9ebda510b44c"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 977, "end_step": 1336, "id": "73e23755-dc9e-4340-ac66-de8c78a251fb"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "goal", "start_step": 1337, "end_step": 1764, "id": "c9bd651d-f94f-4fd6-b7e4-74b937c55371"}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "goal", "start_step": 1765, "end_step": 1852, "id": "bd4dcf6b-7929-4af3-ac4d-6bb5acabf239"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "goal", "start_step": 1853, "end_step": 1988, "id": "1c5a6865-5831-43e3-bf2a-d5506874e026"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "goal", "start_step": 1989, "end_step": 2054, "id": "a2f10d60-825e-419c-badd-1dd0c2c8339c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 2055, "end_step": 2182, "id": "47ca82f9-32c6-4fd7-aa84-5310532de89c"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "goal", "start_step": 2183, "end_step": 2244, "id": "30649320-5a31-4e48-9ecb-f19e8a9813d0"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2245, "end_step": 2386, "id": "66e72caf-5b3f-4e7b-87be-3cbdd27c9efa"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "goal", "start_step": 2387, "end_step": 2460, "id": "29cabce7-08d8-4137-956b-0009511240df"}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2461, "end_step": 2786, "id": "0270c309-68e5-4a9a-9ddb-9ed359d6b144"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}, {"label": "home", "start_step": 2826, "end_step": 2860, "id": "SXacUpSLr4rZ7VKj517ul"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger joints and wrist angle while remaining empty near the left side of the workspace, with no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger joints and wrist angle while remaining empty near the right side of the workspace, with no contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block adjacent to the wooden peg board, staying empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grasp, with the block remaining on the dark table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the purple peg, sliding the block down the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand remains in contact with the green hexagonal block seated on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden block stand toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then transports the nut upward to a position directly above the target purple post on the wooden stand."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple post, then lowers the nut to fit onto the post and stack onto the nut below."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut assembled on the purple post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the leftmost purple peg to secure it firmly on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 578, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit it onto the peg until it rests on the lower assembly component."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut that is seated on the purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut located in front of the wooden assembly base on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with 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 peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, makes small positional adjustments with fingers and wrist, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper assembly base area toward the front green hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp_release: Right hand contacts the green hexagonal block, adjusts finger positions to grip and slightly reposition the block on the table, releases the block and lifts fingers away from the object surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: idle: Right hand remains empty in a stationary position above the green hexagonal block without any visible movement or object contact."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward from its stationary position above the green hexagonal block toward the block, approaching the target to make initial contact."}, {"label": "subtasks", "start_step": 1275, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand positions fingers around the green hexagonal block, adjusting contact points to form a grip on the block resting on the table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, moving it upward and over to position it above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1641, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to attempt fitting it onto the rod with small positional and rotational adjustments to align the parts."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: transport: Right hand lifts the misaligned green hexagonal block slightly upward, moving it to a new position directly above the target purple rod for re-alignment."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand lowers the repositioned green hexagonal block toward the purple rod, making small alignment adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple cylinder positioned on the wooden block assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, then moves the nut upward and toward the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple rod on the wooden base, making small positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: place_release: Right hand holds the white purple-capped block, positions it onto the top of the existing white block stack on the wooden base, releases the stably supported block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty toward the loose white hexagonal block resting on the table surface to the right of the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moves it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the purple vertical rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the purple rod of the assembly stand."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the table next to the green hexagonal block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | 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": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table and transports it upward and leftward to the position directly above the purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the assembly stand and lowers the nut to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, with no visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: retreat: Right hand moves backward away from the stacked white and green blocks on the wooden holder."}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: return_home: Left hand moves from beside the wooden block holder back to its left home position and stops. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2437, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: reach: Right hand moves downward toward the small green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: grasp: Right hand closes its fingers around the small green square block, making small adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: lift: Right hand grips the green block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: transport: Right hand transports the gripped green block upward and forward to the area directly above the purple cylindrical peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2505, "end_step": 2789, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position with no visible movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green block to align its central hole with the purple cylindrical peg, lowers the block to fit it securely onto the peg."}], "episode_index": 12}
+{"source_uid": "36211cdb9507676d", "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "75c084d8-fe04-4e75-9fac-c8baa828d909"}, {"label": "valid", "start_step": 0, "end_step": 2147, "id": "cXGQLHtaqWpxKajkoish9"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 117, "end_step": 264, "id": "ae3b61d0-c38b-49e5-83d6-000d2ea0d0a8"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 265, "end_step": 322, "id": "feeb57b1-3ee7-4a4f-8dd7-bfcc3304b6d4"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "goal", "start_step": 323, "end_step": 444, "id": "0f1507c4-db5d-431e-b8ee-847e49c6d4ba"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 445, "end_step": 506, "id": "62d5ee83-2919-44cb-8ff9-57a8871901b8"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 507, "end_step": 666, "id": "41f6b11a-8bd8-4f41-9811-e392e06e9c47"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 667, "end_step": 982, "id": "8fa8f528-9010-4575-9f69-54a5f2557cf8"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "goal", "start_step": 983, "end_step": 1114, "id": "e0617ed4-79e2-4254-8708-ba5a0a9d5e6d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1115, "end_step": 1178, "id": "24333d80-4369-4958-b5c1-dbc34b961df4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1179, "end_step": 1296, "id": "a702df4a-a256-48aa-9387-41210db79b39"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1384, "id": "e0b79632-a87c-46a4-b287-9d22991e83c2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1385, "end_step": 1514, "id": "261758ab-2218-4b59-bebb-ffb70dc37090"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "goal", "start_step": 1515, "end_step": 1588, "id": "0054db04-fe61-45e4-b5d9-2fc93199f436"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1589, "end_step": 1704, "id": "6d88813e-4807-4853-a7fc-a333f89428cf"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1705, "end_step": 1764, "id": "4fe28195-ab26-4078-a051-92dedc8ce828"}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1765, "end_step": 1894, "id": "88f4e589-adbb-4941-87b8-9a027fc67aab"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "goal", "start_step": 1895, "end_step": 1960, "id": "33b017b5-a4a1-420f-8f46-07748237927a"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "goal", "start_step": 1961, "end_step": 2100, "id": "a10fe01b-ed0f-45f5-8fd4-f95eb3ab8630"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}, {"label": "home", "start_step": 2148, "end_step": 2181, "id": "igu0b7srSWMw0LCa9-yJ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves forward towards the green cubic block placed in front of the wooden base on the desktop."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand makes contact with the green cubic block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost post of the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the leftmost post of the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand opens fingers to release the green block fitted on the wooden rack post."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden base with purple rods."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the target purple rod of the wooden base and adjusts it to stay stable."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the target purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block, which drops onto the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reorient: Right hand adjusts the position of the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface again."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it to the area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the green hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1358, "end_step": 1401, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white hexagonal block on the rod of the wooden board."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden board."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: transport: Right hand carries the white hexagonal block towards the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: place_release: Right hand places the white hexagonal block onto the purple post and releases the grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: reach: Right hand moves towards the green block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: grasp: Right hand grasps the green block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the desktop. | Right hand: release: Right hand releases the green block that has been fitted onto the white bottle."}], "episode_index": 13}
+{"source_uid": "58bfcc32399d1a99", "num_frames": 2086, "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, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "54486ea7-a634-4e75-8475-3314b9e9afcc"}, {"label": "valid", "start_step": 0, "end_step": 2050, "id": "tp0FZQ7FZdkLcnULwZxLO"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "goal", "start_step": 147, "end_step": 306, "id": "18a29c0e-9291-4fe2-bac1-7c9b5790eb8a"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "goal", "start_step": 307, "end_step": 382, "id": "93857fee-6a2a-475a-9604-0c26a3f0b0a9"}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "goal", "start_step": 383, "end_step": 514, "id": "73c7c013-8fec-4669-afbf-574cba185449"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "goal", "start_step": 515, "end_step": 612, "id": "d8a21ca4-3fab-4be9-9405-4a0c2d5437bf"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 613, "end_step": 754, "id": "0e383bf6-54ad-4686-86cc-4cbfa0652ef2"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "goal", "start_step": 755, "end_step": 816, "id": "5f39697e-d9f6-47c0-bb66-a0f40a830c16"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "goal", "start_step": 817, "end_step": 952, "id": "a0c33a45-8ef7-464f-9322-2f1554292183"}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "goal", "start_step": 953, "end_step": 1018, "id": "f1be01fc-616b-4837-8619-281d0da2a01f"}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 1019, "end_step": 1128, "id": "736d993e-44de-48d2-a65b-cd2a6e4e94b6"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "goal", "start_step": 1129, "end_step": 1220, "id": "a74f8f43-cda0-4464-be0b-2282fef73210"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "goal", "start_step": 1221, "end_step": 1470, "id": "36b03942-0278-4511-a496-0a140041fe58"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "goal", "start_step": 1471, "end_step": 1540, "id": "8d3e3d16-930b-45dd-be96-54f8336cfdd8"}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1541, "end_step": 1646, "id": "f42b006d-4f77-4575-a5bf-e8be9c66d94d"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "goal", "start_step": 1647, "end_step": 1702, "id": "3a465733-a591-4077-a75a-b5cb72f372bd"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 1703, "end_step": 1818, "id": "8449e205-81da-49f0-a6e6-6f7a42b60228"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "goal", "start_step": 1819, "end_step": 1882, "id": "da9a009b-2007-48d9-ae7a-358a391152ef"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1883, "end_step": 2010, "id": "b224ea87-2176-46bc-b6fc-760b29251a05"}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2051, "end_step": 2085, "id": "nz8Nwa0-9uMLhv92oLp3p"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and leftward from the initial right-side position with an empty hand, adjusting finger posture while approaching the green hexagonal block located to the front left of the wooden peg stand, without making contact with any object in this segment."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table surface to the front left of the wooden peg stand, closes fingers around the block and makes small adjustments to finger positions to establish a grasp, with the block remaining stationary on the table throughout this segment."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand moves the grasped green hexagonal block to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward and forward from the wooden block rack area toward the front white hexagonal block on the table with open fingers, until making contact with the target block."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, then moves it upward and horizontally to the position directly above the target green post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the target green post, lowers the nut, and makes small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand positions the white cylindrical component onto the purple rod on the wooden assembly base, fingers opening to release the component."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward empty from the assembly base area toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand contacts the front white hexagonal nut on the table, fingers close and make slight adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the front purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front purple rod, lowering it slightly to fit the nut onto the rod and establish the assembly relationship."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand slides the white hexagonal nut down along the purple rod until it rests stably on the green base of the rack, fully supported by the base."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downwards from above the wooden block toward the white hexagonal nut on the table near the block base, with fingers held open."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upwards until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upwards and toward the purple vertical post on the wooden base, positioning the nut directly above the post."}, {"label": "subtasks", "start_step": 870, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple vertical post, moving the nut downwards to nest it onto the post with small position adjustments to fit the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the area above the pegboard, approaching the green hexagonal block placed on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves upward and toward the purple peg on the pegboard, carrying the block to the position directly above the target peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to nest the block onto the purple peg to complete the assembly fit."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: idle: Right hand stays empty above the wooden block assembly base without moving."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making minor finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift: Right hand, holding the white hexagonal block, lifts the block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the green peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1260, "end_step": 1461, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the green peg, makes small positional adjustments, and fits the block onto the peg until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: release_retreat: Right hand opens its fingers to release the fitted white hexagonal block and moves away from the assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward from the stacked block area toward the upper white hexagonal nut resting on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves the nut upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place_release: Right hand lowers the white hexagonal nut to align and seat it securely on the purple vertical rod of the wooden base, opening fingers to release the supported nut."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark table surface, gradually approaching the target object."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to position directly above the empty purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal block to align it with the purple rod below, fitting the block onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: grasp: Right hand closes fingers around the green cubic block to form a stable grasp, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: lift_transport: Right hand lifts the green cubic block completely off the table surface and transports it upward to the position directly above the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the frame without contacting any object or making obvious movement. | Right hand: place: Right hand lowers the green cubic block onto the top of the target white bottle, making slight positional adjustments until the block is stably supported by the bottle."}], "episode_index": 14}
+{"source_uid": "f9f2ccd418a5175c", "num_frames": 2212, "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 on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "acd48c68-74b5-4748-a71f-cb4508e22279"}, {"label": "valid", "start_step": 0, "end_step": 2178, "id": "rjZSLFxLAh1bjdWZe-Ua4"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "goal", "start_step": 143, "end_step": 308, "id": "13edbd35-f5bb-426b-82be-7ce7f1f5e524"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "goal", "start_step": 309, "end_step": 368, "id": "c5512fe9-0491-421a-8c32-eaf26fcced39"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 369, "end_step": 508, "id": "5b315363-0dc6-40b8-a03f-a437665d0349"}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "goal", "start_step": 509, "end_step": 574, "id": "81714e28-4b2b-465e-8344-41083060a2a7"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "goal", "start_step": 575, "end_step": 706, "id": "fdfd922a-da6d-4a52-89d5-6e8559fc80e1"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "goal", "start_step": 707, "end_step": 824, "id": "e1ce5b26-96f3-4cf4-9a16-ec954005455e"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "goal", "start_step": 825, "end_step": 964, "id": "ac77b08d-a3dc-4273-b6c1-959049822a21"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "goal", "start_step": 965, "end_step": 1083, "id": "57e0e392-bf1d-4f96-9e2f-bcdd837d20a0"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "goal", "start_step": 1084, "end_step": 1205, "id": "2f907a4a-b3cd-4502-b04d-72681b969e49"}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "goal", "start_step": 1206, "end_step": 1279, "id": "48df63c9-d501-41b9-9cc4-1302bc849ea8"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "goal", "start_step": 1280, "end_step": 1453, "id": "66426fb9-ee8c-48b8-ac13-962356a428c7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "goal", "start_step": 1454, "end_step": 1523, "id": "09aa97f6-b514-4d6a-b513-84d72a1587bb"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "goal", "start_step": 1524, "end_step": 1695, "id": "b42bccf1-f7d8-48ba-84f4-e5ed1fe6d35f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "goal", "start_step": 1696, "end_step": 1773, "id": "e4596cb0-0a62-4299-94e4-453a2878a1eb"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 1774, "end_step": 1915, "id": "8bc2c716-f9c0-4403-af88-c92965d11cd8"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "goal", "start_step": 1916, "end_step": 1993, "id": "fa01223a-8e26-417c-9d5b-d9a10916d8e5"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1994, "end_step": 2127, "id": "fb8eabfe-7ffc-4d60-b360-8ae54b0abc15"}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}, {"label": "home", "start_step": 2179, "end_step": 2211, "id": "jKWlZ8M_eyHhsxI5mz57L"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: idle: Right hand remains empty at the right initial position above the table without any obvious movement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed in front of the wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 195, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moving the block downward to fit onto the peg and establish the assembly connection."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses the green hexagonal block downward along the green peg of the wooden base, applying pressure to seat the block fully."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, raising the nut completely off the table surface."}, {"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 without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden peg base, positioning the nut directly above a purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut seated on the purple peg of the wooden base, with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden assembly stand, releasing grip as the nut settles on the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to establish grip on the nut."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the black table surface, moving it upward to the position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg and setting it down onto the green block below for stable support."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand places the white cylindrical objects with purple tops onto the pegs of the wooden base, settling them stably on the base."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut on the table surface and closes its fingers around the nut to establish a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand adjusts the position of the grasped white hexagonal nut to align it with the purple peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the white hexagonal nut vertically upward from the dark table surface while maintaining a firm grasp on the nut."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical peg mounted on the wooden block rack."}, {"label": "subtasks", "start_step": 870, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the white hexagonal nut's central hole with the purple vertical peg on the wooden rack via small positional adjustments, lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward from the area above the wooden pegboard toward the nearby green hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions and contact points around the green hexagonal block on the table to form a stable grasp, with slight movement of the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp around the green hexagonal block resting on the black tabletop."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1161, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple peg, then lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: press: Right hand presses down on the top of the green block mounted on the assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the block assembly stand."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | 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."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple rod with no visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves empty down and right from the position above the wooden block assembly, approaching the white hexagonal block placed on the table near the assembly's right side."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact points to establish a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white hexagonal block at the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and leftward to the position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1568, "end_step": 1687, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, moving the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the table while empty."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal nut on the table, with fingers gradually closing to form a grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward, raising it completely off the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: transport: Right hand carries the lifted white cylindrical object leftward across the table to position it above the empty vertical peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: hold: Right hand holds the white cylindrical object stationary above the empty peg on the wooden block assembly, with no observable hand or object movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand lowers the white cylindrical object toward the empty peg, making small positional adjustments to align the object for fitting onto the vertical peg of the wooden block assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: place: Right hand holds the light purple cylinder and moves it downward to insert it into the target white base on the wooden block rack, until the cylinder is fully seated and supported by the base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: release: Right hand opens its fingers to release the seated light purple cylinder, with fingers gradually separating from the cylinder surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: reach: Right hand moves downward and rightward through the air toward the green block on the table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2009, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: grasp: Right hand flexes fingers to close around the green block on the table, making small finger adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: lift_transport: Right hand lifts the green block completely off the table, moving it upward and leftward to position it directly above the target white cylinder on the wooden block stand."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving toward any operational object, staying in a stationary raised position. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylinder, lowering the block to fit it securely onto the cylinder to complete the nesting assembly."}], "episode_index": 15}
+{"source_uid": "6d9d984a8ca9dfe5", "num_frames": 2118, "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 148, "id": "2d548adb-b4ba-4470-8d3c-674e9349de86"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "LSaYJhsRLOJ9lFqwM95p9"}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 149, "end_step": 300, "id": "b57f4046-d171-4c48-b27a-ef0b9eaad1ed"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 378, "id": "4e4be3f7-f618-491e-955d-1aada782fae0"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 379, "end_step": 526, "id": "c4dafc6b-272e-46c1-9dd5-e6e445e2eaf0"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 527, "end_step": 586, "id": "72577ee3-6e2c-4b1f-a419-7ddaadc4ee72"}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 587, "end_step": 728, "id": "56c8f382-47f4-413a-883b-c5d15aa699d3"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 729, "end_step": 802, "id": "9b583d6d-da50-4294-bfb4-68dfe6a66e48"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 956, "id": "61b13558-75a3-4556-9661-38cfe2c33bb6"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 957, "end_step": 1020, "id": "b619b62b-0b3e-4a9d-9338-fc006c854206"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1186, "id": "f4e32ea3-29f5-4e15-93ea-2e9c991285af"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1250, "id": "fb805c80-62e2-415b-9d15-e3af1b824887"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1251, "end_step": 1396, "id": "b565c9e4-d8c6-4cc1-b395-6b7b24e0fe85"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1397, "end_step": 1476, "id": "06d73fd3-a5fd-4009-a567-ae305df99e41"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "goal", "start_step": 1477, "end_step": 1620, "id": "ddbd7d38-fe7b-458b-b09d-6d163e347afe"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1621, "end_step": 1698, "id": "a2059bda-72e1-45ae-bd26-540f636648be"}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "goal", "start_step": 1699, "end_step": 1844, "id": "ebe31849-e55e-4eeb-b6f8-8ffe6e3a2802"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "goal", "start_step": 1845, "end_step": 1906, "id": "dc62884f-a637-4fe3-bcae-6c85702c3686"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "goal", "start_step": 1907, "end_step": 2038, "id": "227355d7-37e4-4219-b476-02c3c29920e3"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}, {"label": "home", "start_step": 2085, "end_step": 2117, "id": "JZr0X48o01BOdfTLE6VdK"}], "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 from the right initial position towards the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 52, "end_step": 89, "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 closes fingers to grasp the green hexagonal block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "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 grasped green hexagonal block off the black table surface."}, {"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 operating area without obvious movement. | Right hand: transport: Right hand carries the green hexagonal block upwards towards the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "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: grasp: Right hand grasps the green block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "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: lift_transport: Right hand lifts the green block from the table and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 299, "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: place_press: Right hand places the green block onto the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "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: retreat: Right hand moves away from the wooden base with assembly parts towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "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: reach: Right hand moves closer to the white hexagonal block on the table with fingers open."}, {"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 operating area without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table, adjusting contact points for stable grip."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "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: transport: Right hand transports the white hexagonal block to the upper position of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 517, "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 hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 518, "end_step": 524, "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: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operating area without obvious movement. | Right hand: reach: Right hand moves downward from the wooden block set towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "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: lift_transport: Right hand lifts the white hexagonal block and transports it upward towards the front-left purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "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: mate: Right hand aligns the white hexagonal block with the front-left purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "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: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "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: reach_grasp: Right hand moves downward toward the white hexagonal object on the black table and starts to grasp it."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "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: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 944, "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: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg."}, {"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 operating area without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "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: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1041, "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: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "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: lift_transport: Right hand lifts the green hexagonal block off the table and moves it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "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: mate: Right hand aligns the hole of the green hexagonal block with the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "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: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"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 operating area without obvious movement. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "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: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "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: lift_transport: Right hand lifts the white hexagonal block and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1341, "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: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "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: release: Right hand opens fingers to release the white hexagonal block on the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "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: idle: Right hand stays empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "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: release: Right hand releases the white cylindrical block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "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: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "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: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1619, "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: mate: Right hand mates the white hexagonal block onto the purple rod until it is supported by the lower block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "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: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "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: mate: Right hand mates the purple cylindrical object into the corresponding hole on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "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 downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "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 grasps the white hexagonal block on the black table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "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: lift_transport: Right hand lifts the white hollow block off the tabletop and transports it towards the rightmost peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "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: mate: Right hand aligns the white hollow block with the rightmost peg on the wooden base and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "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: release: Right hand releases the white cylindrical block on the front row of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "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: reach: Right hand reaches towards the green square block placed on the right side of the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "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: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "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: lift_transport: Right hand lifts the green square block from the table and transports it towards the front right white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00053", "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 and inserts the green square block onto the front right white cylindrical block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00054", "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 square block downwards onto the white cylindrical block to secure it in place."}], "episode_index": 16}
+{"source_uid": "071e3df8697f39a3", "num_frames": 2433, "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "e253e0ae-2fba-4038-8efe-e5cf7a139ab7"}, {"label": "valid", "start_step": 0, "end_step": 2400, "id": "57xhHvkK-WMY5mfP9A7Bb"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "goal", "start_step": 119, "end_step": 234, "id": "5370f79d-aaee-4dbf-9768-77816546deb1"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "goal", "start_step": 235, "end_step": 312, "id": "f7bba1de-ee4e-4252-876f-366a473e9450"}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "goal", "start_step": 313, "end_step": 436, "id": "c5fe3045-e9a2-41b7-8e0c-0e698c4e3a34"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "goal", "start_step": 437, "end_step": 502, "id": "0c532cb4-e594-4e92-89ed-f3ed6257a15d"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 503, "end_step": 636, "id": "9ac848ac-e65a-474c-91a4-5e5a90f18350"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "goal", "start_step": 637, "end_step": 720, "id": "378efe45-cf36-422b-8dd7-c2b02c68fd26"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 721, "end_step": 1046, "id": "4cf11b78-5d9c-4462-9f70-a5b69bb8690b"}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "goal", "start_step": 1047, "end_step": 1092, "id": "76d1c379-dff1-4204-98c2-41a9802fe9f0"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1093, "end_step": 1308, "id": "97c32a9b-564c-4c58-b404-303316de3537"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "goal", "start_step": 1309, "end_step": 1380, "id": "67e2b594-a048-4efd-a59f-2a4965ef92e2"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "goal", "start_step": 1381, "end_step": 1528, "id": "a20191ac-1065-471b-95c9-a8c24cf071f2"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "goal", "start_step": 1529, "end_step": 1602, "id": "8abcd9f2-f2bd-4a2c-bae7-b82a7039bdb2"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1680, "id": "b62bd8bc-e005-4230-bdb7-aada72f01530"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1681, "end_step": 1874, "id": "481126ac-20b7-4f96-9d2e-628107ec62dc"}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1875, "end_step": 2020, "id": "aeb3f65b-0c76-4b35-b923-5e5c193a640e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "goal", "start_step": 2021, "end_step": 2090, "id": "dbeaabae-dbfd-4023-add6-37e306655bef"}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2372, "id": "b4f5bd4b-b933-4197-a6e1-d2fb6956e301"}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}, {"label": "home", "start_step": 2401, "end_step": 2432, "id": "uRZtBjk5Rtg56WyHT2Vi9"}], "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 workspace without observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal nut placed on the black table surface in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "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 target green hexagonal nut on the table, adjusting finger positions to establish a firm grasp."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00003", "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 completely off the table surface and moves it upward to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00004", "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 green hexagonal block with the purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "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 green hexagonal block fitted on the purple peg, with no observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal nut onto the purple peg of the wooden pegboard and opens fingers to release the nut."}, {"label": "subtasks", "start_step": 255, "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 toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "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 adjusts finger positions around the white hexagonal nut on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "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 nut off the table surface, moving it upward and forward to a position directly above the green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "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 central hole of the white hexagonal nut with the green peg, moving the nut downward to fit it onto the peg for assembly."}, {"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 workspace without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the top of the wooden assembly, separating from the block."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "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 nut on the black table surface, adjusting finger posture while approaching the target."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "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 nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "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 table surface and transports it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "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 rod on the wooden assembly, makes slight positional adjustments, and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00016", "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 position above the wooden block assembly toward the white hexagonal nut placed in front of the block base on the table, staying out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00017", "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 target white hexagonal nut on the table, with minor finger adjustments to establish contact and initial grasp on the nut."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00018", "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 upward from the black table surface and moves it to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 750, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its hole with the purple post, moves the nut downward to fit it onto the post until the nut stably rests on the surface of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00020", "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 assembled white hexagonal nut on the purple post without any observable displacement or shape change of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00021", "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 above the wooden peg board toward the green hexagonal nut resting on the front-left section of the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "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 green hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00023", "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 green hexagonal nut off the table surface and moves it upward to position it directly above the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "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 green hexagonal nut steady above the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "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 green hexagonal nut with the purple peg and lowers the nut to fit partially onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand adjusts the angle of the tilted green hexagonal nut and lowers it fully down the purple peg until the nut rests stably on the white nut below, supported by the peg assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place_release: Right hand places the green hexagonal nut onto the purple peg of the wooden block set and releases its grip on the nut."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00028", "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 with an empty hand toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand makes small finger adjustments around the white hexagonal nut resting on the dark table surface to form a stable grasp, with the nut remaining stationary on the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00030", "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 stably grasped white hexagonal nut completely off the table surface and moves it upwards and forward toward the green cylindrical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00031", "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 opening of the held white hexagonal nut with the top of the green peg on the wooden base, making small positional adjustments while lowering the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and seats it onto the purple rod of the stacked block assembly with minor finger adjustments, fingers open to release the secured block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: reach: Right hand moves empty downward and rightward from the block assembly, approaching the white hexagonal nut resting on the black table surface near the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "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 placed on the black table to the right of the wooden block stand, establishing a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00035", "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 gripped white hexagonal nut off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00036", "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 and fits the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: place: Right hand lowers the white hexagonal nut down along the purple vertical rod until the nut rests stably on the supporting white nut below."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00038", "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 upper right area next to the block set toward the white hexagonal nut on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1718, "end_step": 1821, "id": "reasoning-language-00039", "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, adjusts finger contact positions and slightly rotates the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable closed grip around the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00042", "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, then transports it upward and toward the wooden peg board to position it above an empty vertical peg."}, {"label": "subtasks", "start_step": 1928, "end_step": 2001, "id": "reasoning-language-00043", "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 target empty vertical peg on the wooden block base, making small positional adjustments before lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 its fingers to release the closed grip on the white hexagonal nut that is now seated on the wooden peg."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "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 toward the green cube on the table surface with an open hand posture, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "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 cube on the table, fingers gradually closing to establish a grasp on the cube, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2151, "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_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, lowers the block to fit onto the post until the block is stably supported by the post."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00049", "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 green hexagonal block fitted on the purple post."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement. | Right hand: retreat: Right hand moves backward away from the assembled block on the rack with an empty hand."}], "episode_index": 17}
+{"source_uid": "ed948361a07917de", "num_frames": 2023, "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: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "eeebd467-ca4b-408a-af1c-e440a61b923a"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "2zk7-56aEmMWnKHyio66H"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 296, "id": "1d611090-03f5-4ebf-ab01-451d5a87c617"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "goal", "start_step": 297, "end_step": 362, "id": "7fc51a06-c853-4038-8552-21200bff522c"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "goal", "start_step": 363, "end_step": 488, "id": "f65fbc7a-e5eb-4ddb-84b5-b3343eb9d53d"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "goal", "start_step": 489, "end_step": 559, "id": "f9c9d34a-b044-4ad5-9509-b02c560a9996"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "goal", "start_step": 560, "end_step": 701, "id": "81052293-981a-4a24-8508-a3e2a66f4092"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 702, "end_step": 765, "id": "f4e19e23-7571-4106-a0c0-18f0eb934d95"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 766, "end_step": 929, "id": "cdb40033-b6c6-46ff-98a0-03b3a0523d8a"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 930, "end_step": 1005, "id": "770e1805-faaf-44f4-a099-f098d47a1a7c"}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "goal", "start_step": 1006, "end_step": 1133, "id": "9bf8e2d9-7088-485a-8299-98837d128966"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "goal", "start_step": 1134, "end_step": 1197, "id": "e0d18531-c6e2-429a-8b23-8b00a1c61d9c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "goal", "start_step": 1198, "end_step": 1313, "id": "3b60ae54-4761-4224-b48a-13c4c3347476"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "goal", "start_step": 1314, "end_step": 1391, "id": "cecac0e8-5c92-4e37-857f-ebd0b8dfeaab"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1392, "end_step": 1519, "id": "8289047f-5eab-4028-9a56-4e4f59e2c384"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "goal", "start_step": 1520, "end_step": 1589, "id": "f123be94-728c-47a3-9fcc-a055c32e47f2"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1753, "id": "d1593560-0c0a-4a4e-8165-9f0e9aa01afa"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 1754, "end_step": 1811, "id": "4e481856-9654-41f2-a7f5-8582c5e03a83"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "goal", "start_step": 1812, "end_step": 1949, "id": "b2b1cd6d-9be5-4de6-a6cc-a7322588c267"}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}, {"label": "home", "start_step": 1991, "end_step": 2022, "id": "Qs29bBuEOmi2CZM_xuMxO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its finger posture and position slightly in the air, moving toward the center of the table with fingers gradually opening. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 left green hexagonal block on the table, with fingers gradually opening."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the left green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the left green hexagonal 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 and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the work surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward to the position above the pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg of the pegboard and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block fitted on the pegboard peg without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg onto the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 338, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 around it."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the leftmost front peg of the rack."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost front peg and mates it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost front peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: press_release: Right hand presses the white cylindrical piece down onto the leftmost peg of the green base and releases the piece."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the leftmost white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black table and transports it toward the leftmost peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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": 735, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the table surface to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden base and moves it downward to fit the part onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and reaches toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table by closing its fingers to adjust the grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by aligning and lowering it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the green block on the wooden base, fingers gradually opening."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing around it."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the upper area of the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost peg of the wooden pegboard and releases the ring."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the right table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_place: Right hand aligns the white hexagonal block with the purple rod and places it down along the rod until the block is supported by the wooden rack."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: release: Right hand releases the white cylinder on the right rear position of the wooden board, with fingers opening from a grasping state."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with fingers open."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary in the air 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 toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, moving the block downward along the peg to fit it in place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the rightmost purple rod of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it upwards to the top of the rightmost white cylinder."}, {"label": "subtasks", "start_step": 1860, "end_step": 1949, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary in the air at the left side of the table. | Right hand: mate: Right hand mates the green square block onto the rightmost white cylinder of the wooden rack with slight adjusting movements."}], "episode_index": 18}
+{"source_uid": "f2041b13e6e8d424", "num_frames": 1920, "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: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 127, "id": "b530e6e0-4075-4fec-b3cc-0a76da92c85d"}, {"label": "valid", "start_step": 0, "end_step": 1887, "id": "dvrgAnId85d6sfg2IcTIb"}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 128, "end_step": 269, "id": "8c83851a-959e-4fd1-9a53-f3c880b9f8f3"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 270, "end_step": 331, "id": "4a30d006-8d39-47df-a8fa-7baee1fa68b2"}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "goal", "start_step": 332, "end_step": 445, "id": "83810567-129f-422e-9023-d01036ed5f7b"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 507, "id": "1a549c76-0c20-4f63-95a0-25f2c4c47c66"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 508, "end_step": 613, "id": "86c83d37-a2e9-4cc4-a5d8-1039bf55a069"}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 614, "end_step": 669, "id": "65119adf-9bd8-4649-a301-4dad1d62f864"}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "goal", "start_step": 670, "end_step": 761, "id": "3e8df3b9-955b-4724-a0e4-8561cd22389d"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 762, "end_step": 837, "id": "62897ca8-4cc9-4bfb-8bed-4eb142155056"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "goal", "start_step": 838, "end_step": 967, "id": "6e3eec90-bc67-456c-ba95-e9945d720d1c"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "goal", "start_step": 968, "end_step": 1039, "id": "603d80d5-1138-4ffd-9d7a-b970cf13b790"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "goal", "start_step": 1040, "end_step": 1165, "id": "4211fabb-0550-414f-be7a-d7b6712dc4cc"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "goal", "start_step": 1166, "end_step": 1239, "id": "29a5fc7e-1355-4c04-9cc3-80acdfbfef9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1240, "end_step": 1351, "id": "e6612ab4-c2f1-4fe9-b2f5-9537f491d5a5"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1352, "end_step": 1413, "id": "27a60d09-56d7-4ddb-9f63-f62ef54f9f3b"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1414, "end_step": 1541, "id": "804a0dda-64b6-4deb-89f8-4ed8a349aa3f"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 1542, "end_step": 1653, "id": "63a21528-c6aa-42f2-9ce6-d982d9328488"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "goal", "start_step": 1654, "end_step": 1837, "id": "d4713a9a-f523-4599-9d5e-b556caa12d5d"}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}, {"label": "home", "start_step": 1888, "end_step": 1919, "id": "Rc84RRsT_Ke0RUm8lKKdv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its position and finger posture at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "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 towards the green hexagonal object placed on the black table surface."}, {"label": "subtasks", "start_step": 60, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal object on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "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 and transports it to above the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "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 purple peg on the wooden pegboard, adjusting position to fit it correctly."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00007", "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 black tabletop."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "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 from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "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 inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "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 block on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "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 toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00013", "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 from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 from the table and transports it to the top of the empty purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00017", "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 empty purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "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 green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "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 tabletop."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00021", "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 from the tabletop and moves it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00022", "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 middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the green hexagonal block down onto the middle purple peg until it rests on the base."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00025", "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 around the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "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 from the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1184, "id": "reasoning-language-00027", "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 target peg on the wooden rack and adjusts it to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "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 white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00034", "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 up away from the table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 downward toward the green block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1671, "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 grasps the green block on the black tabletop, fingers close around the block to adjust stable grip."}, {"label": "subtasks", "start_step": 1672, "end_step": 1717, "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 green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases its grip on the green block fitted on the white bottle."}], "episode_index": 19}
+{"source_uid": "3a1303e2febd2064", "num_frames": 2329, "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": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "goal", "start_step": 0, "end_step": 142, "id": "7b932916-def8-4f6b-a0b5-9ac4197890e4"}, {"label": "valid", "start_step": 0, "end_step": 2297, "id": "L9OVipnax-0NY6JqGNOTg"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 143, "end_step": 302, "id": "90f9e768-a4f1-495a-bd64-2f0e94ec8d3c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "goal", "start_step": 303, "end_step": 398, "id": "20ee45c4-fc6b-424b-b101-b89708c5aaba"}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 399, "end_step": 522, "id": "9d4504ba-cf06-46c2-ae62-563d01f25dbb"}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "8a1763cb-1c27-4969-a68c-89ca7a442551"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "de7c3d17-a934-42b3-b1c5-e9d3afe4d37e"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "goal", "start_step": 741, "end_step": 792, "id": "d44c3500-3022-4d7a-87ce-2e58d118d042"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 793, "end_step": 910, "id": "bd719c92-6279-4a0e-9d7f-0723eab8c010"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "goal", "start_step": 911, "end_step": 1036, "id": "ee6905c3-e5ab-4299-8051-fc953d10d7cc"}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "goal", "start_step": 1037, "end_step": 1264, "id": "6ddb4121-eb9b-46ae-bae3-c1f82f238af7"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1334, "id": "a0f5efca-a9cd-4609-9751-6d15e21afa72"}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1335, "end_step": 1500, "id": "4ad2274b-58e7-4586-8be0-0c554df21551"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1570, "id": "7965f650-4269-4662-930b-4128f7a082e0"}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "goal", "start_step": 1571, "end_step": 1696, "id": "ff071a33-85b8-4e90-89b0-c15a9228c409"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "goal", "start_step": 1697, "end_step": 1754, "id": "3e800d1b-d4b8-4ceb-8a46-bce4eb5d46cb"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 1755, "end_step": 1976, "id": "31988f46-1719-43fa-8c89-9bb9eca8fa25"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 1977, "end_step": 2114, "id": "68280a6d-af57-4c39-9f29-48c5a9f6962c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2115, "end_step": 2262, "id": "3a0e7d9b-705e-430b-8c70-01b158c4e60b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}, {"label": "home", "start_step": 2298, "end_step": 2328, "id": "3q2wo8S7WFBWhqnbAfews"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "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 from the right side of the table toward the green hollow hexagonal block, fingers slightly curving during movement."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "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 touches the green hollow hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 82, "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: lift_transport: Right hand lifts the green hollow hexagonal block off the table and moves it slightly left to align with the leftmost purple peg."}, {"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: mate: Right hand lowers the green hollow hexagonal block and fits it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 120, "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: hold: Right hand holds the green hollow hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 135, "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: grasp: Right hand grasps the green hexagonal block on the table in front of the pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "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 above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 180, "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: mate: Right hand aligns the green hexagonal block with the leftmost peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: press: Right hand presses the green hexagonal block down along the leftmost peg to the bottom of the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00010", "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 to separate from the block."}, {"label": "subtasks", "start_step": 300, "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: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00012", "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 onto the peg of the pegboard at the upper middle of the table."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "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 from the pegboard toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "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 piece on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "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: lift_transport: Right hand lifts the white hexagonal component off the table surface and transports it to the position above the leftmost post of the peg rack."}, {"label": "subtasks", "start_step": 435, "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: mate: Right hand mates the white hexagonal component onto the leftmost post of the peg rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "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 component fitted on the leftmost post of the peg rack without any observable movement."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00018", "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 leftmost green peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00019", "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 at the lower left area of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00020", "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 lower left area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00021", "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 wooden rack with purple rods."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "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 mates the white hexagonal block onto the leftmost purple rod of the wooden rack, aligning and pressing it down to fit."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "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 block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack area, moving toward the lower right side."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "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 moves downward to approach the white hexagonal block on the table in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "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 closes its fingers to grasp the white hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "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 white hexagonal block off the table and moves it upward to the position above the target purple peg."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "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 and fits the white hexagonal block onto the purple peg of the wooden base with slight adjustments."}, {"label": "subtasks", "start_step": 930, "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: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "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 green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00031", "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 upward from the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "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 perforated block on the gray table surface without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "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 green perforated block from the table and transports it to the upper position of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 aligns the green perforated block with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1237, "id": "reasoning-language-00035", "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 perforated block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "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 perforated block on the peg by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 building block set area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1357, "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 block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "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 block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "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 and rightward toward the upper white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "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 upper white hexagonal part on the table, with fingers closing and adjusting to form a stable grip on the part."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00043", "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 upward and leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1694, "id": "reasoning-language-00044", "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 part onto the purple vertical post, aligning the central hole of the part with the post and sliding the part down along the post until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary, resting on the top of the white hexagonal piece on the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "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 toward the white hexagonal piece on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "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 closes its fingers around the white hexagonal piece on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "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 hexagonal piece off the table and moves it upward and leftward to the position above the front-right pillar of the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "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 hexagonal piece with the front-right pillar of the wooden block and lowers it to fit the piece onto the pillar, making small adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00050", "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 cylindrical part onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "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 green cubic block on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2077, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_green_block_with_finger: Right hand adjusts the green cubic block on the table with its index finger, flipping and repositioning the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00053", "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 closing around the top of the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "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": 2130, "end_step": 2151, "id": "reasoning-language-00055", "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 upward and leftward to the position above the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2152, "end_step": 2227, "id": "reasoning-language-00056", "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-topped bottle on the wooden rack by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "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 fitted on the purple-topped bottle without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00058", "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 block and separates from it."}], "episode_index": 20}
+{"source_uid": "583240a391765b19", "num_frames": 2298, "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "54c0da18-d642-48fa-a88a-3ec1eb6a617c"}, {"label": "valid", "start_step": 0, "end_step": 2261, "id": "8I9t2KE13OXj_Upcz0C15"}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"label": "goal", "start_step": 129, "end_step": 276, "id": "5c1439e8-2ff7-4a82-91b4-a3a8ad4024fe"}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 277, "end_step": 356, "id": "51ef5809-c6f9-46eb-83c2-387e94a01849"}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 357, "end_step": 494, "id": "e55ddd60-c09d-46a0-ba0b-b116b3a47974"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 495, "end_step": 576, "id": "7000443b-1338-48f4-a3b6-fc624a7f0050"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "goal", "start_step": 577, "end_step": 802, "id": "2db83ae0-32b3-499a-a708-514e06055ce1"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 803, "end_step": 878, "id": "cfced2f7-1123-4cc5-9490-f0bd05f923ea"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 879, "end_step": 990, "id": "ab8eb5e4-6bc1-4d4a-b237-248953d6d7d5"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1066, "id": "eeb63474-7b00-4d07-afca-c0361b27a82b"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "goal", "start_step": 1067, "end_step": 1186, "id": "157cd3e0-3d2a-4fab-a243-56fa6df8178a"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "goal", "start_step": 1187, "end_step": 1276, "id": "336ddc62-14b0-42ba-b3dd-4b31ac3ce123"}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1277, "end_step": 1388, "id": "dc9feeb2-266a-4ff7-9c7c-6d134f7846f7"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1389, "end_step": 1440, "id": "5da7d5c3-bdf0-4a01-9ff6-db02a545f3f0"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "goal", "start_step": 1441, "end_step": 1558, "id": "037a83b0-1054-4336-8957-5d4f0df1d7d3"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "goal", "start_step": 1559, "end_step": 1629, "id": "fa4fc280-7bef-463a-bb25-9c815fcbca56"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "goal", "start_step": 1630, "end_step": 1757, "id": "3e0d92ae-e8a4-47eb-b39f-07d170ba345e"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "goal", "start_step": 1758, "end_step": 2005, "id": "8bc35d09-2de6-4df8-b6f3-2750cbb14313"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "goal", "start_step": 2006, "end_step": 2227, "id": "af01a969-f483-411b-af2a-e7393803f6d5"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}, {"label": "home", "start_step": 2262, "end_step": 2297, "id": "UJrcCm678pGSR5XYAMbCD"}], "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 table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block at the lower left of the wooden base on the table."}, {"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 table without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block at the lower left of the wooden base."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block upwards away from the black table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "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 on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 269, "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 by lowering it onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand inserts the white hollow block onto the purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "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 downwards towards the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "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 adjusts its fingers to form a stable grasp around the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "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 to the position above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "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 with the leftmost purple rod on the wooden rack, fitting the block down onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "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 that is just placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00012", "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": 548, "end_step": 591, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "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 target purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "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 hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "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 rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "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 inserts the white cylinder onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "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 cylinder on the table in front of the wooden base."}, {"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 moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "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 rack."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "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 mates the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00023", "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 of the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00024", "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 green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "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 adjusts fingers to grasp the green cubic block on the tabletop."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "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 green block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "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 green block with the purple rod and inserts it downward onto the rod until it reaches the base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1177, "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 releases the green block on the purple rod, fingers gradually opening to separate from the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00029", "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 base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 adjusts the green block to fit it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "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 off the table and transports it towards the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "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 green peg on the wooden base by aligning and lowering it."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "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 from its grasp after placing it on the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "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 downward and rightward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "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 with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00038", "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 leftward and upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00039", "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 on the wooden base by aligning its hole with the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand pushes the white hexagonal block down along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00041", "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 top of the purple rod on the wooden base and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface and closes fingers to grasp the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "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 ring above the table surface without moving."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "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 ring towards the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "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 ring with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "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 ring after placing it onto the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grip on the white block with purple core on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1838, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches and adjusts fingers to form stable grip on the green block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "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 block, fingers separate from the block surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "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 towards the green block on the table again to approach it."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "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 adjusts fingers to stably grasp the green hollow block placed on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00053", "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 test tube rack at the center of the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2227, "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 aligns the green hollow block with the top of the test tube with a purple cap, and fits the block onto the test tube with position adjustments."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00055", "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 after it is properly placed on the test tube."}], "episode_index": 21}
+{"source_uid": "f9000861d46dc5e6", "num_frames": 2401, "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "d613e7da-8f73-4ff6-8b72-f57edf2fd5ed"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "TwykzoF3_8OGfHDMbiYyo"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 123, "end_step": 238, "id": "4704ed47-0702-4fd2-a94f-06963fc572b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "goal", "start_step": 239, "end_step": 310, "id": "69b00d5d-9354-45e3-892c-3c74968061b6"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "goal", "start_step": 311, "end_step": 438, "id": "361107c5-ee97-4310-8882-1974bd40fed4"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 439, "end_step": 552, "id": "e95e1b53-a85f-4c18-a2d0-abb81adbbeac"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 553, "end_step": 682, "id": "9300becc-5d05-4e7d-b687-be20eca4a483"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "goal", "start_step": 683, "end_step": 772, "id": "ad2af707-523d-44f4-8226-ca174b0c01c7"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 773, "end_step": 902, "id": "7b479347-8af8-40ce-8b0d-d56fc8f98ce0"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "3cc43ec5-14bc-4a5a-84f1-dc3bf5d28710"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 975, "end_step": 1094, "id": "794e2dcc-aff2-4c46-a7d8-7fefa9128f8b"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1095, "end_step": 1180, "id": "c5e39abb-4859-4612-b674-1451202e13ff"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "goal", "start_step": 1181, "end_step": 1426, "id": "7bf4000d-a9b1-4359-8f46-d24dd3b885a7"}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "goal", "start_step": 1427, "end_step": 1504, "id": "61abe14a-aa76-40a8-8713-367fd51e6709"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "goal", "start_step": 1505, "end_step": 1754, "id": "0db00174-12f5-4f13-acd0-719cb4edc8a6"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"label": "goal", "start_step": 1755, "end_step": 1840, "id": "e1a5f462-c9ed-45b0-b27d-02f9ee4fb33f"}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "goal", "start_step": 1841, "end_step": 2082, "id": "fcfc6362-5846-444f-8550-4040415384c6"}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "goal", "start_step": 2083, "end_step": 2188, "id": "8d4c62bf-fda2-4b7e-8e43-0bc3a0279466"}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "goal", "start_step": 2189, "end_step": 2330, "id": "fed5f54c-65cc-4e36-84a4-716c055b64a6"}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}, {"label": "home", "start_step": 2365, "end_step": 2400, "id": "tP_2WXqe5N241CiTPMlcq"}], "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. | Right hand: idle: Right hand remains empty at the right side of the workspace without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves forward and downward toward the green hexagonal block on the table with fingers extended."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions to close around the green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand moves upward with the grasped green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand positions the green hexagonal block above the purple vertical post, making small alignment adjustments to nest the block onto the post."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: press_release: Right hand applies downward pressure to the green hexagonal block on the purple peg to seat it fully, fingers opening to release the block and separate from it."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the black tabletop in front of the assembly base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the contacted white hexagonal nut on the tabletop, closing fingers to form a grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut completely off the black table surface and moves it upward to the position above the target green peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target green peg and lowers the nut to fit it onto the peg, establishing the assembled connection."}, {"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 workspace without any obvious movement. | Right hand: release: Right hand releases the white hexagonal block seated on the purple peg, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward empty from the pegboard area toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the nearby white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and fits it onto the leftmost purple post on the wooden assembly base, opening fingers to release the secured block."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table in front of the assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, making small positional adjustments while moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the corresponding post of the wooden stand, releasing the block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward from the wooden stand area toward the green hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the green hexagonal block through the air, moving it to position directly above the purple post on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place: Right hand lowers the green hexagonal block vertically, making slight alignment adjustments to place the block onto the purple post until the block is stably supported by the post."}, {"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 workspace without any obvious movement. | Right hand: reach: Right hand moves empty downward from the block stand toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts finger positions, closing fingers around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface near the green square block without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and forward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1238, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the purple rod, moves the block downward along the rod to fit it onto the rod assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves diagonally down and right from above the stacked block assembly, approaching the white hexagonal block on the table with open fingers without touching the target."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | 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": 1545, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hexagonal block horizontally toward the purple vertical rod on the wooden base, moving the block directly above the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious 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 the hole onto the top end of the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the top of the purple rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block, continuing to align and fit the block further down the purple vertical rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach: Right hand moves downward and toward the right side of the table, approaching the small white hexagonal block on the dark table surface with fingers slightly spread."}, {"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 workspace without any obvious movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers closing around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift: Right hand lifts the white hollow cylinder upward from the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1957, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: transport: Right hand carries the white hollow cylinder through the air toward the purple vertical peg on the wooden block base, adjusting its position slightly as it moves."}, {"label": "subtasks", "start_step": 1958, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple vertical peg, lowering and making small adjustments to fit the cylinder onto the peg for assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: place_release: Right hand lowers the white cylindrical block with a purple core into the matching hole on the wooden holder, fingers opening to separate from the block as the block rests stably on the holder."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: reach_grasp: Right hand moves downward toward the green cubic block on the dark table surface, fingers closing around the block with small adjustments of finger and wrist position to form a secure grasp."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: grasp: Right hand adjusts its fingers around the small green block on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: lift_transport: Right hand lifts the small green block off the black table surface and moves it upward to a position above the target white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 2228, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement. | Right hand: mate: Right hand aligns the small green block with the top of the target white bottle on the wooden stand, lowering the block to nest securely onto the bottle top."}], "episode_index": 22}
+{"source_uid": "fdf59a469cf3c4b7", "num_frames": 2396, "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: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0d571dbb-81ce-42a7-bc39-a728108f1dcc"}, {"label": "valid", "start_step": 0, "end_step": 2364, "id": "LRZ30F36g8E3lDK44NW-u"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 127, "end_step": 222, "id": "e951b3f2-eb7d-4820-9c5e-e87c52dec6fe"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 223, "end_step": 310, "id": "b709d484-d4bf-42ce-9ecb-d6c2bdfc5301"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 311, "end_step": 412, "id": "1c8f01d9-2522-4d96-a1ba-13d3467a86e8"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "goal", "start_step": 413, "end_step": 484, "id": "46cce65c-bf69-476b-9fdb-285b7e6fc4b8"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "goal", "start_step": 485, "end_step": 638, "id": "b07df91b-fbfa-4c2f-a992-2caa5b193eff"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 639, "end_step": 710, "id": "643dd5c4-aa75-4cc5-b78f-ba3a8b6b5088"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 711, "end_step": 928, "id": "78eed047-a797-4bd3-be5d-dfbd16cb4874"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 929, "end_step": 1018, "id": "becf39d4-5600-4836-be61-f64d9e721c90"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1019, "end_step": 1340, "id": "09e10546-3e44-4f13-acae-cbbd2c5a79d3"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1341, "end_step": 1430, "id": "6872869b-7db1-4d2f-bd8d-95af89b93c0b"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1431, "end_step": 1574, "id": "5fa6cd59-72e8-4c44-b0f8-3ade94f4b07c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1575, "end_step": 1694, "id": "a73fd8e5-74fa-4776-8a46-b3eae29c5168"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 1695, "end_step": 1792, "id": "2f254fe8-b92f-434b-b00a-14d4b9b9782a"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "goal", "start_step": 1793, "end_step": 1882, "id": "b1b6b422-988b-4735-b527-2fba325ce9c1"}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "goal", "start_step": 1883, "end_step": 2086, "id": "2c6e151c-ac68-41d7-81af-f0ca69eb2882"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "goal", "start_step": 2087, "end_step": 2174, "id": "5fd5e7d2-1da5-4c27-b22b-179f60087b35"}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "goal", "start_step": 2175, "end_step": 2330, "id": "a99015d3-0538-40c2-82be-b93e4a257d22"}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}, {"label": "home", "start_step": 2365, "end_step": 2395, "id": "41kAw_FkHgETj_DIL3JWc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating and fingers moving from upward-facing position to forward-facing position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal nut below the wooden peg base, keeping fingers empty."}, {"label": "subtasks", "start_step": 75, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal nut on the table below the wooden peg base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white cylindrical part onto the purple peg of the wooden base plate."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal object from the black table to the position above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost peg of the pegboard, fingers opening."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, fingers closing and adjusting grip stability."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the wooden peg assembly towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg, continuously adjusting the part's position to ensure proper fitting."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: press: Right hand presses the white cylindrical block onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block toward the middle vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the green block with the middle vertical peg, moving it up and down to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: other:adjust_position_on_peg: Right hand adjusts the position of the green block up and down along the middle vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the middle vertical peg without moving."}, {"label": "subtasks", "start_step": 1328, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release_retreat: Right hand releases the green block on the middle vertical peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate_release: Right hand mates the white annular part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches toward the green square through-hole part on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green square through-hole part on the black table surface with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal ring from the right dark table surface to the top of the purple rod on the wooden base, moving upward and leftward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base by lowering the ring onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: retreat: Right hand retreats rightward and slightly upward from the block set, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to establish grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the white hollow cube off the table surface and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the white hollow cube with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the white hollow cube fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cube, separating from the cube."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: reach: Right hand moves downward from the white bottle group toward the green block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: lift: Right hand lifts the green block from the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2211, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: transport: Right hand transports the green block leftward to the top of the target white bottle on the tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the green block with the white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: hold: Right hand holds the green block on the white bottle without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white cylindrical part on the left side of the wooden base without moving. | Right hand: release: Right hand releases the green block by opening its fingers and moving away slightly."}], "episode_index": 23}
+{"source_uid": "d18b46ce61cc1ac6", "num_frames": 2161, "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_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "b603c8ec-dfbd-4aba-b5aa-0f325476ba98"}, {"label": "valid", "start_step": 0, "end_step": 2128, "id": "hf9_ixf4g44F8dYMasgGy"}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "goal", "start_step": 127, "end_step": 268, "id": "5ecd2754-b04f-4cd5-aeb0-71a61726c195"}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "goal", "start_step": 269, "end_step": 342, "id": "f4f68bc5-a69d-4602-8a87-ef57684ec7bf"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "goal", "start_step": 343, "end_step": 502, "id": "1129e729-5696-4058-a618-f0e8472eb0bd"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 566, "id": "22de959e-ad5e-4350-b711-5fd1bc01c5a0"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 567, "end_step": 734, "id": "0476f68f-33b6-4a75-8b71-5bf3c67da37a"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 735, "end_step": 814, "id": "33f54a61-2411-4cd1-b8f4-dda8fd934910"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 815, "end_step": 940, "id": "6d885bc3-7aef-44af-8ce0-69e9325d1b40"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 941, "end_step": 998, "id": "196c5070-f748-4ca3-90fc-a52561ba89d4"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "goal", "start_step": 999, "end_step": 1136, "id": "7af2ccf6-30e0-4015-bb21-f501dc1fba9d"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1224, "id": "29a3579c-a727-43ec-888c-53cbf6e0f1cd"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1225, "end_step": 1350, "id": "b2a5f583-d46f-4f08-a5b2-bb6910faf2ab"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "goal", "start_step": 1351, "end_step": 1434, "id": "0313216b-0b81-4e90-abe2-3bef133bea75"}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1606, "id": "068e2c80-ae88-4110-865b-41bbdccfaa93"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1607, "end_step": 1680, "id": "7b5b7754-f2ff-4a94-aa5c-0571e7c2eb72"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1681, "end_step": 1838, "id": "c543e3f2-2354-4a95-b7e9-db77de80c907"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "goal", "start_step": 1839, "end_step": 1898, "id": "e051a83e-a4fb-4086-bf03-99cb5912426e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1899, "end_step": 2082, "id": "ec0c10b8-c3d6-4f1c-a171-0f81f267c40e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}, {"label": "home", "start_step": 2129, "end_step": 2160, "id": "K6KCpKWGhhxvpJJJZ8kI_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the operation area, without contacting any operation objects. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 44, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to establish stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: hold: Right hand holds the green hexagonal block stationary without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate_press: Right hand mates the green block with the leftmost purple peg and presses it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block downwards towards the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the black table surface, where the block is supported by the table."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop with fingers adjusting to stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple peg on the assembly rack."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg to fit the hole."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal nut down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block on the top of the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the white hexagonal block downward along the peg to secure it in place."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block after it is properly fitted onto the purple rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the green block with the purple peg by inserting it down onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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": 1268, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block which is already placed on the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | 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 base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block from its grip after placement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white hexagonal block that is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the top of the white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the green block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fit it in place."}], "episode_index": 24}
+{"source_uid": "c23fe238c6cde478", "num_frames": 1994, "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: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "34393b05-7a23-48f1-bf43-9d049599c80a"}, {"label": "valid", "start_step": 0, "end_step": 1961, "id": "ci9ADBpZL05a7CaDv9KYs"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "goal", "start_step": 123, "end_step": 298, "id": "6bca4a10-8919-4249-a7f9-78aad97be19d"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "goal", "start_step": 299, "end_step": 372, "id": "a552ef9d-c3fa-4fe2-bfbd-40e32ee24c98"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "goal", "start_step": 373, "end_step": 522, "id": "05df9a2a-024c-4738-bf0a-a310453e4c85"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "goal", "start_step": 523, "end_step": 598, "id": "464810e5-600a-4849-9d3b-40841d0f714f"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "goal", "start_step": 599, "end_step": 740, "id": "1c4cadd4-6847-4831-9807-a666afa70230"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "goal", "start_step": 741, "end_step": 808, "id": "09463540-e6ff-46cd-82cb-c517626b0fb6"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 809, "end_step": 918, "id": "b1996ffe-0c51-44d4-be01-fb8c2d185ae3"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "goal", "start_step": 919, "end_step": 994, "id": "2b7aa01d-1b77-4771-bbd1-1cab8f43195d"}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 995, "end_step": 1158, "id": "86316982-9cfb-4ab6-ae9b-be73f6773eea"}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1224, "id": "6b177b84-ece9-4c1c-8524-284809c7f0de"}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "goal", "start_step": 1225, "end_step": 1392, "id": "badfc806-8fc4-4609-bde9-77c3fbb50438"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "goal", "start_step": 1393, "end_step": 1442, "id": "32fbb34f-e6f6-453a-8eeb-3dc7b5f93e7b"}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1443, "end_step": 1550, "id": "1bee12b9-2a22-4f39-a714-07b7ffe2c613"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "goal", "start_step": 1551, "end_step": 1614, "id": "0603685b-2c45-49af-bde6-0d2d852ab228"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 1615, "end_step": 1754, "id": "62fd6daf-7ffb-4bea-80eb-03b6ab428be3"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "goal", "start_step": 1755, "end_step": 1814, "id": "4b991101-0a97-4a41-adf3-f5e5373fe7db"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1815, "end_step": 1930, "id": "2cdf8b67-59b4-4e18-9771-64d422b1ca87"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}, {"label": "home", "start_step": 1962, "end_step": 1993, "id": "g7_6z8D9BzizIqxjZ8_RK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture from the initial raised pose, flexing fingers from a fully extended position to a relaxed slightly bent shape, and moves slightly to a stationary position on the left side of the workspace before coming to a stop. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves diagonally down and left toward the green hexagonal block resting on the table next to the wooden peg stand, gradually flexing fingers from a fully extended raised pose to an open pre-grasp pose as it approaches, with no contact made with the block during this movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, making small adjustments to finger and wrist position to form a grip, while the block remains fully supported by the table surface throughout the segment."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, and lowers the block to fit securely onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple peg mounted on the wooden stand."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments to fingers to stabilize the grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and toward the wooden peg assembly, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white hexagonal block with the target purple peg on the green base."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block down along the purple peg until the block rests stably on the supporting green base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden assembly, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the wooden assembly toward the white hexagonal nut on the black table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp on the object."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple peg, and lowers the nut along the vertical peg to rest stably on the pre-placed white nut below."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden assembly base, approaching the white hexagonal block placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger position to establish a stable grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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 target purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the target purple rod, adjusting position to fit the block onto the rod to form an assembly connection."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the white block positioned below on the same rod, with the block fully supported by the underlying surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area above the stacked blocks toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1028, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block gradually and adjusts its position slightly to fit the block securely onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is now fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from above the stacked block assembly with open fingers, approaching the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any 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": 1260, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the purple vertical rod, making fine position adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward empty from its position above the wooden rack toward the white hexagonal nut placed on the table to the right of the rack, approaching the nut."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to position it directly over the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod, fitting the nut onto the top of the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: place: Right hand lowers the white hexagonal nut downward along the purple vertical rod, moving the nut toward the supporting white nut below."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple vertical rod, with the nut resting stably on the supporting white nut below, without any visible movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward from the area near the top of the block set toward the white hexagonal block resting on the dark table, with fingers open."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the block base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no 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 rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal block, moving fingers away from the block surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: reach: Right hand moves downward while empty toward the green perforated block placed on the right area of the table, with fingers slightly spread as it approaches the block."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green perforated block resting on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped green perforated block completely off the table surface, then transports it upward and leftward to the position directly above the purple vertical peg on the white block rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace, making no contact with any objects. | Right hand: mate_release: Right hand aligns the central hole of the green block with the purple peg, lowers the block to fit it onto the peg, then opens its fingers to release the block."}], "episode_index": 25}
+{"source_uid": "83f4d2aa760603c7", "num_frames": 2324, "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: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "ba5373e4-a629-4bfe-af1e-725fb5e04c9e"}, {"label": "valid", "start_step": 0, "end_step": 2289, "id": "IA2gDfPdfqKhxAjkXlsaP"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 252, "id": "433a2f77-3540-439d-954a-3e744e7ca6e8"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "goal", "start_step": 253, "end_step": 326, "id": "77ae9905-8a72-442b-bfec-5fef8127f1bb"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 327, "end_step": 574, "id": "b4040319-93e6-4d46-865b-0e1282280eb0"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "goal", "start_step": 575, "end_step": 646, "id": "41e64121-89d6-4adf-9649-5f9bf0addbed"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 647, "end_step": 818, "id": "4c5b5094-3374-49e8-bcba-79fa0758652e"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 819, "end_step": 874, "id": "300889db-0dc3-4d8c-a39a-bfb950f33bfc"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 875, "end_step": 982, "id": "dba4c439-a0fd-4a67-afed-5ed8c495b78a"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 983, "end_step": 1050, "id": "07e1c03e-e2aa-47b5-bdca-5093e251173e"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1051, "end_step": 1188, "id": "0ae49894-808d-4f66-a25f-949da914165a"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1258, "id": "8b32fd3c-64b6-4f06-b9a0-76efc638ebea"}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "goal", "start_step": 1259, "end_step": 1380, "id": "e57536b3-ee0d-4f48-a3e3-567d5a2dac19"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1381, "end_step": 1454, "id": "65f6de4f-eb85-44b4-be79-3f328170260e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1455, "end_step": 1620, "id": "4bf7c894-cd2c-4c3a-a51f-d8c5cf874932"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "goal", "start_step": 1621, "end_step": 1684, "id": "907fecad-06b2-4ca9-8d90-b64a9c2e6339"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "goal", "start_step": 1685, "end_step": 1810, "id": "79931ccf-e46b-4aab-9e64-f778ccef8f2a"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "goal", "start_step": 1811, "end_step": 1874, "id": "4c172254-9824-469d-887e-2168905400a7"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "goal", "start_step": 1875, "end_step": 2258, "id": "f4c6fa4b-cce0-472b-99b1-670ab180691b"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}, {"label": "home", "start_step": 2290, "end_step": 2323, "id": "FJmoWE5DQb-LjpO-xfvFV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its posture with fingers opening and wrist slightly rotating at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves leftward and downward from the right side of the work surface toward the green hollow block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand closes its fingers to grasp the green hollow block on the table, adjusting grip position to stabilize the hold."}, {"label": "subtasks", "start_step": 98, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hollow block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the leftmost peg of the rack."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green block onto the leftmost peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost green peg and releases the part."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward to approach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg, lowering it down to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal nut, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: idle: Right hand remains empty near the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward from the upper wooden peg base area toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the top of the wooden rack's leftmost peg."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost peg of the wooden rack by lowering and fitting it down the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal piece on the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface while staying empty."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table surface and carries it upward above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal piece with the target purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press_release: Right hand presses the white hexagonal piece downward along the purple peg to the bottom and releases it via opening fingers."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: place_release: Right hand places the white perforated hexagonal block onto the right purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward toward the upper green perforated block on the table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the upper green perforated block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and transports it toward the wooden peg base with cylindrical pegs."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the green hexagonal block with the front middle cylindrical peg on the wooden base and slides the block down onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the green hexagonal block on the front middle cylindrical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical piece on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the table below the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and transports it upward to the top of the rightmost purple peg."}, {"label": "subtasks", "start_step": 1298, "end_step": 1379, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the white hexagonal piece onto the rightmost purple peg of the wooden base, adjusting its position to fit."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white cylindrical block on the rightmost post of the wooden rack, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the white hexagonal block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward toward the purple vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple post and inserts the block onto the post."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release_retreat: Right hand releases the white hexagonal block by opening its fingers, and moves slightly away from the purple post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around it."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the white hexagonal block on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches downward toward the green cubic object on the table below the rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green cubic object upward off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green cubic object upward and leftward to the top of the front-right white post on the rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green cubic object with the front-right white post by aligning the central hole and fitting the object down onto the post."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green cubic object downward along the front-right white post to secure it."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: release: Right hand releases the green cubic object on the front-right white post, with fingers opening."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: reach: Right hand reaches leftward toward the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: grasp: Right hand grasps the green ring on the front-left white post of the rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: lift: Right hand lifts the green ring upward along the front-left white post."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: transport: Right hand transports the green ring rightward to the top of the green cubic object on the front-right white post."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: mate: Right hand mates the green ring with the front-right white post by aligning the hole and fitting it down onto the post above the green cubic object."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the work surface. | Right hand: press: Right hand presses the green ring downward along the front-right white post to secure it."}], "episode_index": 26}
+{"source_uid": "191eb4e8be6cf840", "num_frames": 2133, "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_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "52db5c36-6527-4fb4-b76c-6c092406e005"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "zQ0teTTIL1pU2bgkdvNSv"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 240, "id": "8f1c9797-32a8-4930-aa06-d875691e9f33"}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 303, "id": "5f1a047c-c1ac-47ed-b8cd-e9c1f096112e"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "goal", "start_step": 304, "end_step": 483, "id": "12ab257b-c8cf-471b-a780-8e73999e9a10"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 484, "end_step": 539, "id": "81113756-b517-46cf-9fd3-ce9ae666df74"}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 540, "end_step": 763, "id": "9978f91e-ab21-4f01-86f1-f6e17e39fe2e"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "goal", "start_step": 764, "end_step": 841, "id": "e0716298-c2a9-4fc9-93a5-5aef2b91a93a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 842, "end_step": 957, "id": "1666b130-0c46-4d1e-9b53-9a7f8da791a3"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "goal", "start_step": 958, "end_step": 1027, "id": "ea764a32-8e08-4861-82ac-156832781ee4"}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1028, "end_step": 1195, "id": "26852c7b-e54a-46ae-9bb6-1c80808fc12d"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "goal", "start_step": 1196, "end_step": 1251, "id": "84f11ee1-ea7e-4656-87c2-b18c0d498986"}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1252, "end_step": 1387, "id": "0f5e57ca-c2bb-4bd5-acd5-2bbf0c35cea7"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1388, "end_step": 1455, "id": "935a5b51-0261-4cd1-a2bb-6590ed6a67c0"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1456, "end_step": 1571, "id": "692d4451-4c12-43d0-ac71-9e631223f83e"}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1572, "end_step": 1629, "id": "78507f22-cdca-4036-ab66-abad713008b4"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1630, "end_step": 1743, "id": "bf20ae04-b492-40e0-bbfd-93fb62c37c3a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1744, "end_step": 1807, "id": "792c0285-3c34-4ad7-8d0d-82b7aa87f547"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "goal", "start_step": 1808, "end_step": 2057, "id": "74c8bae5-bb42-4b18-8f87-d58e446c21af"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}, {"label": "home", "start_step": 2099, "end_step": 2132, "id": "m0WofIp_P7YEhUwehCh47"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture and finger position at the left side of the table. | Right hand: reach: Right hand moves forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 forward towards the green hexagonal block placed in front of the wooden peg base."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00003", "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 green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "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 stably without any movement."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "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 from the black tabletop and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "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 block with the leftmost purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down along the purple peg to secure it in position."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00009", "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 located on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "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 tabletop."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00011", "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 from the tabletop and moves it toward the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 457, "id": "reasoning-language-00012", "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 it onto the rod."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00013", "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."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00015", "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 tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "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 from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "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 peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_reach: Right hand releases the white hexagonal block on the purple peg and moves towards another white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: lift: Right hand lifts the purple cylinder up away from its original socket on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: transport: Right hand transports the purple cylinder horizontally to the position above the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: other:adjust_hand_posture: Left hand slightly moves upward and adjusts finger positions without contacting any operating object. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the purple cylinder into the empty target socket on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | 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": 870, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand aligns the green cube with the middle peg on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the green cube down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the green cube that is fixed on the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: retreat: Right hand retreats from the wooden peg base to the right side."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white annular block onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand releases the white block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1581, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses the small purple component on the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: place: Right hand places the green square block onto the top of the frontmost white column on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: press: Right hand presses down the green square block to secure it onto the white column."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left side of the operation area. | Right hand: release: Right hand opens fingers to release the green square block."}], "episode_index": 27}
+{"source_uid": "f3ee56df0e32628e", "num_frames": 3103, "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 on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "c4a544cf-7216-4100-a622-bb6fb79c132a"}, {"label": "valid", "start_step": 0, "end_step": 3067, "id": "LAgOzebX8d_tBcLw1dtEi"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "goal", "start_step": 125, "end_step": 264, "id": "95a29c3a-5126-4cac-a2f2-b66a8f990fa5"}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "goal", "start_step": 265, "end_step": 334, "id": "f0388da8-36e1-4f20-a7f5-8e51dcebfaf6"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "goal", "start_step": 335, "end_step": 468, "id": "9219fd5f-3f85-4b99-93fb-71dcff373817"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "goal", "start_step": 469, "end_step": 540, "id": "8cb61686-97ed-4ca5-afce-0c508f2cf8d0"}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "goal", "start_step": 541, "end_step": 804, "id": "67828e0d-3317-4945-9d4e-5b646a58ca63"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "goal", "start_step": 805, "end_step": 870, "id": "d79bfca1-c4be-4000-96b6-b1bf9e942690"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "goal", "start_step": 871, "end_step": 1518, "id": "e8b20037-a30b-4c3c-9612-1c4c7fe3ee7a"}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "goal", "start_step": 1519, "end_step": 1588, "id": "0b3f6bfc-3df2-4be6-98e0-0e80e992e60e"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "goal", "start_step": 1589, "end_step": 1730, "id": "d352410d-2306-4099-be47-bbba441dff7a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "goal", "start_step": 1731, "end_step": 1798, "id": "dcb930fd-6ef1-444d-8705-18b4058edb92"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "goal", "start_step": 1799, "end_step": 1910, "id": "15a9c068-4da6-4941-bf97-448b3bd7ffd5"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "goal", "start_step": 1911, "end_step": 1976, "id": "f1aa7487-7c9b-409c-b606-601f3affb0d3"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2130, "id": "d18ac3c5-e2a9-4a95-82be-f47a1f575253"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "goal", "start_step": 2131, "end_step": 2178, "id": "b2b83d51-731b-41d9-b4c1-c5d0c1aeadd0"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "1a01e498-8555-4fab-a0a9-796e7fa85e30"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "goal", "start_step": 2425, "end_step": 2486, "id": "3457da86-c1c1-4365-9388-431ff3d6bc97"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 2487, "end_step": 3024, "id": "1d580850-59b9-49cc-95a7-9b10c6a75dfa"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}, {"label": "home", "start_step": 3068, "end_step": 3102, "id": "daslhGy6EGX83sQm70BgM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty at the upper right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the green hexagonal nut placed in front of the wooden base while remaining empty, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table surface, adjusting finger contact positions to establish a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | 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": 210, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the green hexagonal nut fitted on the purple peg with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the corresponding purple peg on the wooden base, moves downward to fit the block onto the peg, opens fingers to release the block stabilized on the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table surface, closes fingers around the block, and adjusts finger and wrist positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table throughout."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 382, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate_release: Right hand aligns the held white hexagonal nut with the target purple post, lowers the nut to fit it onto the post in a nested assembly, and opens its fingers to release the nut which stays supported on the post."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the block assembly stand toward the white hexagonal nut on the black table surface, contacting the assembly stand during movement which causes the stand to topple over, and stops above the nut without touching the nut at the end of the segment."}, {"label": "subtasks", "start_step": 495, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the black table surface, adjusting finger positions and closing fingers around the nut to establish a grip."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the leftmost purple rod and moves it upward to position above an adjacent purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the adjacent purple rod on the wooden stand, making small positional and orientational adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand sets the white hexagonal block onto the top of the rightmost purple post on the wooden base, opening fingers to release the block once it is supported by the post."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table in front of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand holds the white hexagonal nut, lifts it off the black table surface, and moves it upward to the position above the purple assembly post."}, {"label": "subtasks", "start_step": 900, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand repeatedly adjusts the position and orientation of the white hexagonal nut, aligns its central hole with the purple assembly post, and fits the nut onto the post with fine adjustments."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut, fully separating the hand from the assembled nut."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: idle: Right hand remains empty next to the assembled white hexagonal nut without observable movement."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward from the assembly board toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grasp on the green hexagonal nut on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table and moves it upward to position above the purple post on the assembly board."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place: Right hand moves the grasped green hexagonal nut downward along the purple post to place it onto the underlying hexagonal block on the assembly board."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: press: Right hand presses the top of the purple cylindrical rod on the assembly base with the index finger to secure the rod in place."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the assembly base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple cylindrical rod on the assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align with the purple cylindrical rod, lowers the block to fit it onto the rod and seat it firmly on the lower positioned block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand releases the white cylindrical object on the back-right of the wooden base, with fingers opening and lifting away from the object."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves down-right toward the white hexagonal nut on the table adjacent to the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and moves it downward to fit the nut onto the rod, completing the assembly fit."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple vertical rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut on the purple rod, moving up-right away from the assembly area with an empty hand."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the table beside the green block."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table and transports it to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2228, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: place_release: Right hand places the white nut on the top surface of the stacked blocks and releases its grasp on the nut."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach_grasp: Right hand moves to the white nut on the block stack and closes fingers to re-grasp the nut."}, {"label": "subtasks", "start_step": 2258, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the grasped white nut with the purple post on the block assembly, makes small positional and angular adjustments, and moves the nut downward to fit it onto the post."}, {"label": "subtasks", "start_step": 2415, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reach: Right hand moves empty from above the bottle set down toward the green block placed on the right area of the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: grasp: Right hand closes fingers around the green block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, then moves it upward and leftward to the position above the target bottle in the set."}, {"label": "subtasks", "start_step": 2550, "end_step": 2654, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the top of the rightmost bottle, moves the block downward to attempt fitting it onto the bottle with small position adjustments."}, {"label": "subtasks", "start_step": 2655, "end_step": 2767, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: reorient: Right hand holds the green block above the bottle and slightly rotates the block to adjust its orientation after the first fitting attempt fails."}, {"label": "subtasks", "start_step": 2768, "end_step": 3007, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: mate: Right hand realigns the green block with the top of the target bottle, moves the block downward and makes fine adjustments until the block is fully fitted onto the bottle and supported by it."}, {"label": "subtasks", "start_step": 3008, "end_step": 3029, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without observable position or posture change. | Right hand: release: Right hand opens fingers to release the fitted green block, separating the hand from the block."}], "episode_index": 28}
+{"source_uid": "7d5484fe619df169", "num_frames": 2418, "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 located in front of the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "26fdaba9-79a7-4b9d-9702-8ecc8ff87f3f"}, {"label": "valid", "start_step": 0, "end_step": 2384, "id": "f-MLWmrIxKzFLTMhGX5C6"}, {"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 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": 111, "end_step": 300, "id": "3ceae929-52de-4506-bf6c-615bf6db7719"}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 301, "end_step": 372, "id": "ec5f8aec-8775-4f83-a9fc-a578bf2e1c57"}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "goal", "start_step": 373, "end_step": 486, "id": "09aaf7d8-e3dd-4e4a-bc4e-af903b492c34"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 487, "end_step": 554, "id": "544bef78-9462-49f4-bc89-0ed84c74730d"}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "goal", "start_step": 555, "end_step": 724, "id": "f1edeb91-3882-46d5-b95a-cc498b6d8a1a"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "goal", "start_step": 725, "end_step": 780, "id": "84594faf-7b8b-42ea-b061-a68d8b359c8d"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "goal", "start_step": 781, "end_step": 900, "id": "c7a088c0-82e8-44ec-a218-1bb3fd06bcfa"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "goal", "start_step": 901, "end_step": 1108, "id": "5d674593-dc01-4e41-916b-d76d30f547da"}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "goal", "start_step": 1109, "end_step": 1236, "id": "73ed3f75-d0e3-4f87-9213-339a74073cea"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1237, "end_step": 1356, "id": "9d4989b3-a4bb-4b91-9766-77c5654f5658"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1357, "end_step": 1490, "id": "0f5f8286-3d77-496d-b606-9b319eb36a3b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "goal", "start_step": 1491, "end_step": 1582, "id": "1ef5d0d7-7316-473a-b96e-5c6a68c6bfc2"}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "goal", "start_step": 1583, "end_step": 1750, "id": "3a058a75-6af2-414f-81b2-3a96a54c264a"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "goal", "start_step": 1751, "end_step": 1822, "id": "fabe1ab5-702b-4cfb-ab01-86e35245df23"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "goal", "start_step": 1823, "end_step": 2144, "id": "c148f427-8c3f-4fa9-807c-93a7beea0ce7"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "goal", "start_step": 2145, "end_step": 2226, "id": "388a757e-343c-470c-80af-64c51bb24883"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "goal", "start_step": 2227, "end_step": 2346, "id": "f18b4427-5208-42ab-8ade-6cfd0a9ca7e6"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}, {"label": "home", "start_step": 2385, "end_step": 2417, "id": "Q_-b38uHe6X98PFcGST4z"}], "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 located in front of the wooden base on the black table."}, {"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 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": 135, "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: lift_transport: Right hand lifts the green block and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 261, "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: Right hand mates the green block onto the leftmost purple peg by moving it downward along the peg."}, {"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 operating area without moving. | Right hand: release: Right hand releases the green block fitted on the purple peg."}, {"label": "subtasks", "start_step": 300, "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: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 338, "end_step": 389, "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 by closing its fingers around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "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 off the table and moves it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "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 purple peg of the wooden base by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "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 downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "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 table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "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: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the purple rod of the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00015", "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 towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "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 tabletop."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00017", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 891, "id": "reasoning-language-00018", "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 rod on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00019", "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 purple rod."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "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 from the wooden block base towards the green block on the black table."}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "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 adjusts its fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "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 green block upward off the black table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "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 adjusts fingers to stably grasp the green block on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "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 upward off the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "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 area above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the green block and places it onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00027", "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 cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00028", "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 hollow block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal hollow block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "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 towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00031", "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, fitting it down onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: other:adjust_posture: Left hand slightly adjusts its posture with fingers moving upward. | Right hand: place_release: Right hand places the white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1508, "end_step": 1514, "id": "reasoning-language-00033", "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 white cylindrical sleeve onto the purple peg on the wooden base and releases the grip on the sleeve."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00034", "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 cylindrical sleeve placed on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "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 hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "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 hollow block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00037", "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 hollow block with the purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00038", "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 white hollow block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00039", "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 wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00040", "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 on the black table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00041", "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 surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00042", "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 purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 2017, "id": "reasoning-language-00043", "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 rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00044", "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 white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves slightly backward away from the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "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 towards the green block placed on the table below the wooden board with bottles."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "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 fingers around the green block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "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 block from the table and transports it towards the wooden bottle rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00049", "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 block onto the top of the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "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 releases the green block from its grip."}], "episode_index": 29}
+{"source_uid": "826d7e023867acc7", "num_frames": 2220, "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_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 104, "id": "88761c44-089a-414e-b38a-8646a153b050"}, {"label": "valid", "start_step": 0, "end_step": 2189, "id": "SDhWS7PbR_uYn_WnNx7qr"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 105, "end_step": 244, "id": "6a54b108-22bc-4d8a-b6fd-8d6ef4fbc15e"}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "goal", "start_step": 245, "end_step": 302, "id": "adb2a0c4-f8fe-4b5b-bb34-eafdc99f1c0b"}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 303, "end_step": 520, "id": "b4575435-9ef8-4b6f-9400-8ea13ab18d0d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "goal", "start_step": 521, "end_step": 608, "id": "c90de2b3-4370-4ca5-984a-b27bd9e1c81e"}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "goal", "start_step": 609, "end_step": 782, "id": "4e561687-821e-478f-b24f-a27c6ef74665"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "goal", "start_step": 783, "end_step": 844, "id": "33fc07bf-037d-4c8a-9656-addc94e86b20"}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 845, "end_step": 978, "id": "4e5f039c-b788-4755-ac3c-0cc021e6baa2"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "goal", "start_step": 979, "end_step": 1058, "id": "41b3633f-3311-415c-a4b9-44f80d4bffa9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1059, "end_step": 1172, "id": "981dcb3f-71b8-43a1-82c3-ab0c5b10305f"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1173, "end_step": 1246, "id": "13265388-ffa2-4556-8547-ff51fc0208ec"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "goal", "start_step": 1247, "end_step": 1384, "id": "2fd353a8-534a-4370-8ed5-d93ea8942e47"}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "goal", "start_step": 1385, "end_step": 1592, "id": "fea88eaa-f96e-4bad-9069-569cbe09a18a"}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "goal", "start_step": 1593, "end_step": 1718, "id": "3235bb5e-ed28-423c-8bb5-b6c9c93811d2"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1719, "end_step": 1802, "id": "6f1c83fa-748b-4cf6-bbdb-1bb2bb851c61"}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1803, "end_step": 1958, "id": "621cb06a-60c4-4ae0-b633-c38907e24c85"}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "goal", "start_step": 1959, "end_step": 2030, "id": "cad53b2b-1c06-4eb8-bfdb-ff163e0415a4"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2031, "end_step": 2146, "id": "0b788439-5ef6-40f4-823c-54ace52325ab"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}, {"label": "home", "start_step": 2190, "end_step": 2219, "id": "_ih5W5QvygMuz5LK7i0G3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand adjusts its finger pose at the left side of the table, with no obvious position displacement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "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 hexagonal block with a hole, approaching the target without contact."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "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 with a hole on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "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 with a hole on the table without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "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 above the left-front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 135, "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: mate: Right hand mates the green hexagonal block onto the left-front purple peg of the wooden rack by lowering and fitting the block onto the peg."}, {"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: hold: Right hand holds the green hexagonal block on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "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": 232, "end_step": 239, "id": "reasoning-language-00010", "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 wooden rack."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "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 from the pegboard area to approach the white hexagonal ring on the table in front of the pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "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 ring on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "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 ring off the table and transports it upward and leftward to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "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: mate: Right hand aligns the white hexagonal ring with the leftmost purple peg and lowers it onto the peg to assemble."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the tilted white hexagonal ring on the leftmost purple peg to correct its orientation, with the ring's position roughly unchanged."}, {"label": "subtasks", "start_step": 442, "end_step": 509, "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 lowers the white hexagonal ring along the leftmost purple peg until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 510, "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: release: Right hand releases the white hexagonal ring and slightly moves its fingers upward away from the ring."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00018", "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 piece onto the purple peg on the wooden board and releases the grip on the piece."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00019", "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 work surface."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00020", "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 piece on the black work surface to form a stable grasp."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "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 toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "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 block with the leftmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 698, "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: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00024", "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, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 795, "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: reach: Right hand moves downward from the peg set to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "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 white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00027", "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": 878, "end_step": 891, "id": "reasoning-language-00028", "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 toward the middle front purple peg of the peg set."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 white hexagonal block with the middle front purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00030", "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 holed piece onto the rightmost purple peg on the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "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 moves downward toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "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 green hexagonal piece on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "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 green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "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 aligns the hole of the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"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 table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "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 white block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 reaches toward the white hexagonal block on the table, moving downward."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "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 block on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 1268, "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: lift_transport: Right hand lifts the white hollow hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "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: mate: Right hand mates the white hollow hexagonal block with the purple rod on the wooden base, lowering and adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "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 block on top of the stacked blocks, with fingers opening."}, {"label": "subtasks", "start_step": 1410, "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: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"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: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "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 upper white hexagonal block off the table and transports it upward toward the top of the stacked blocks."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "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 on top of the stacked blocks and releases it."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "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 toward the lower white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "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 white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "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 hexagonal block from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "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: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"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 table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00051", "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 hollow block onto the purple vertical peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00052", "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 surface."}, {"label": "subtasks", "start_step": 1762, "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: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"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: lift_transport: Right hand lifts the white hollow block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1845, "end_step": 1919, "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 hollow block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "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 releases the white hollow block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the front-right white bottle with green base on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "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 toward the green square block on the right lower part of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "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 square block on the right lower part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "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 annular block from the table and transports it toward the bottle rack at the center of the table."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00061", "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 green annular block onto the top of the rightmost bottle in the rack and releases the block."}], "episode_index": 30}
+{"source_uid": "8f59d7fb094f3193", "num_frames": 1957, "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "ccacc417-f1d1-460e-868f-613983f9c31f"}, {"label": "valid", "start_step": 0, "end_step": 1926, "id": "8jR05v-M6bC20AtAh1N0s"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 135, "end_step": 232, "id": "995ec6a7-e622-45a9-a1d5-e580b8b5899e"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 233, "end_step": 298, "id": "a59d49df-5f84-4ed2-83c0-1c9b14939087"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 299, "end_step": 410, "id": "52c0ea0b-a2a2-4726-ac4c-a70fa96c8a28"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "goal", "start_step": 411, "end_step": 480, "id": "03371cde-16ec-4bdf-9998-dce167f1804c"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 594, "id": "7dcbfd1a-3672-4d26-944c-b5c9c7a9c18a"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 668, "id": "9b2bb254-b696-43db-ac2f-aa5447ee263b"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "goal", "start_step": 669, "end_step": 842, "id": "90e116d3-45b8-498a-8a39-1bb2d079fa3e"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 843, "end_step": 900, "id": "8239b380-c38c-4a8f-a058-32cd18d33ce8"}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 901, "end_step": 1014, "id": "c7864cfc-3c59-408e-9e23-222b3f6930e2"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "goal", "start_step": 1015, "end_step": 1152, "id": "9dd127aa-7f68-49fd-b945-3ba359965ab1"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1260, "id": "ebf63628-8dad-4f53-83f7-3a1472e1f882"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1261, "end_step": 1324, "id": "330cc99b-df3b-47f8-b4b2-bd5c74322492"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1325, "end_step": 1404, "id": "7fb15e24-1fe5-4652-aa85-b42f81df16fc"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "goal", "start_step": 1405, "end_step": 1566, "id": "ff892c57-0093-41b0-a257-3a080d97ffcc"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "goal", "start_step": 1567, "end_step": 1680, "id": "60d776b8-5d80-4962-bfc3-538a354cc939"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "goal", "start_step": 1681, "end_step": 1729, "id": "2b8a3524-5ada-44ad-a538-bf6c3e41066f"}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1730, "end_step": 1879, "id": "b32ada5f-3a5c-4bb3-84d1-2ed99895a0e0"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}, {"label": "home", "start_step": 1927, "end_step": 1956, "id": "W1mG5K3Qli1K2VQXgHBUX"}], "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 leftward and downward from the right side of the table toward the green hexagonal block next to the wooden pegboard."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block."}, {"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 table without moving. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "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 upward and rightward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 172, "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 onto the leftmost purple peg by moving it downward until it fits in place."}, {"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: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "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 object onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "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 toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 270, "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 around the white hexagonal object on the table, adjusting the grip slightly."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "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 object onto the leftmost purple peg of the wooden base, lowering it steadily into position."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "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 block onto the front-left peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "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 reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 458, "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: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "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 block towards the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "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 block with the front-left purple peg on the wooden rack and slides it down onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "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 mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "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 block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "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 black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "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 block off the table and transports it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "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 block with the middle purple peg, aligning the hole of the block with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00022", "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 peg to secure its position."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "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 block, with fingers opening and moving slightly away from 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 table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost peg of the wooden board and moves downward toward the green hexagonal block on the left side of the table surface."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it to form a stable grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the target peg of the wooden board."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "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 green hexagonal block with the target peg on the wooden board and fits it onto the peg, moving downward until the block rests on the white piece below."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "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 releases the white sleeve on the green block of the wooden base, with fingers opening and separating from the sleeve."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "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 moves downward toward the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00030", "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 sleeve on the black table surface with fingers closing and adjusting grip, and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00031", "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 white hexagonal sleeve on the black table surface without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00032", "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 sleeve on the black table surface and initiates grasping with fingertips contacting the sleeve."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 white hexagonal block on the black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "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 black table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and places it onto the wooden base to be supported."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "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 white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "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 down and right from the wooden block base toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "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 on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "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 block off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "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 block with the purple peg and lowers it to mate onto the peg."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00041", "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 rod of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "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 piece on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "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 white hexagonal piece on the table with fingers closing."}, {"label": "subtasks", "start_step": 1478, "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: Right hand lifts the white hexagonal piece upward off the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00045", "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 piece back onto the table surface and releases it."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "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 toward the white hexagonal piece on the table again."}, {"label": "subtasks", "start_step": 1538, "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 white hexagonal piece on the table with fingers closing."}, {"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: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00049", "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 leftward and upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00050", "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 block with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00051", "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 hollow block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the green block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00053", "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 table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00054", "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 upward to the top of the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1889, "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 green block onto the top of the target white bottle, aligning and fitting it into place."}], "episode_index": 31}
+{"source_uid": "1b6f0a17514186e7", "num_frames": 2365, "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "5b8d8201-5129-46c7-93eb-b8060f712d2e"}, {"label": "valid", "start_step": 0, "end_step": 2332, "id": "TXHXfs0F6XfVmHlJtcnNF"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "goal", "start_step": 109, "end_step": 210, "id": "1b976177-47c7-420c-aec8-058b20b24a65"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 211, "end_step": 283, "id": "d824d8e4-8bb3-4f43-97fe-d7a4c8d5b712"}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "goal", "start_step": 284, "end_step": 505, "id": "0b4d38b7-c165-4bf5-9fb5-9215766f8f13"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "goal", "start_step": 506, "end_step": 583, "id": "c5c62e32-20d0-41d6-bc73-5b8a191d2181"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "goal", "start_step": 584, "end_step": 693, "id": "8e412c0b-588d-4ebf-ba71-5455fe8ab350"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"label": "goal", "start_step": 694, "end_step": 763, "id": "9140680d-8bcc-4643-a4d8-0ffde0d46212"}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "goal", "start_step": 764, "end_step": 905, "id": "f01c8fbd-10cc-4c78-9cdd-2983c964d889"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "goal", "start_step": 906, "end_step": 959, "id": "03d0eb3f-eca1-4ee9-b5bb-e0e80b71ab1f"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 960, "end_step": 1073, "id": "80921e3a-e5ac-4e67-8fed-55fbaedea62b"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "goal", "start_step": 1074, "end_step": 1139, "id": "fb46a1e5-6a0d-4a03-b648-39b4a56efa29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "goal", "start_step": 1140, "end_step": 1773, "id": "12eeab78-668e-4c2a-b218-0d4aa9fed78b"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "goal", "start_step": 1774, "end_step": 1845, "id": "cd5b133a-69e1-44e1-8057-c6548322a9a7"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "goal", "start_step": 1846, "end_step": 1935, "id": "bd8aebd1-1a7d-4e48-bba5-960c644ea5f8"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 1936, "end_step": 1997, "id": "f3241ba8-fb62-4feb-af1f-8836abe1ff63"}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1998, "end_step": 2095, "id": "edce3d8c-a1f7-4bfa-89c2-1a37db9ab4a8"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "goal", "start_step": 2096, "end_step": 2165, "id": "ce7ed159-0301-4eb3-8ab7-76899854ae90"}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2166, "end_step": 2295, "id": "27139636-6188-4f8b-8b87-075d8597b98d"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}, {"label": "home", "start_step": 2333, "end_step": 2364, "id": "tjCchmprXMonM6tqEEKtU"}], "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 with no observable displacement or posture change. | Right hand: idle: Right hand remains empty at the right side of the workspace with no substantial movement toward any target."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal nut on the black table adjacent to the wooden peg base, making no contact with the target."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut, fingers closing to establish a grasp on the object."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block downward to place it onto the purple peg, until the block is stably supported by the wooden board."}, {"label": "subtasks", "start_step": 188, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 232, "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 displacement or posture change. | Right hand: reach: Right hand moves vertically downward from the wooden peg stand toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut vertically upward, raising the nut completely off the table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden stand, positioning the nut directly above the target purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, then lowers the nut to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod of the wooden assembly base, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand positions fingers around the white hexagonal nut on the black table surface, adjusting finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement 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 area directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple post below and moves the nut downward to fit onto the post."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut positioned in front of the wooden block base, with fingers open as it approaches the target object."}, {"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 workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact to establish a stable grasp of the nut."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves upward to position the nut directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal nut with the purple peg on the wooden base, moving the nut downward to fit onto the peg with minor positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward from the block rack area toward the green hexagonal block on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block off the table surface and moves it upward to the position above the empty peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the green hexagonal block with the empty peg on the rack and lowers the block, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface near the wooden block set."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a grip on the object."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position above the purple vertical post on the wooden block set."}, {"label": "subtasks", "start_step": 1185, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple vertical post for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, which falls down onto the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut and adjusts finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward back to the position above the purple vertical post."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and fits the nut onto the post."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty from the area above the wooden stacking base downward and rightward toward the nearest white hexagonal nut on the dark table surface, approaching the nut to prepare for grasping."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closing fingers around the nut and adjusting finger positions to form a grip, with the nut remaining resting on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut above the right area of the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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 onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | 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": 2025, "end_step": 2047, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: transport: Right hand carries the grasped white hexagonal nut upward and leftward to the position above the purple rod on the wooden holder."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, opens fingers to release the nut."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand releases the white hexagonal bottle with purple cap on the front right of the wooden stand, fingers opening to break contact with the bottle cap."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: reach: Right hand moves empty downward and rightward toward the small green block on the table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: grasp: Right hand makes contact with the small green block on the table, fingers closing and making small position adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and forward to position it directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: mate: Right hand aligns the hole of the green block with the purple post on the rack, lowers the block to fit it onto the post until the block rests stably on the rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green block stably placed on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or posture change. | Right hand: idle: Right hand remains empty directly above the green block on the rack without moving."}], "episode_index": 32}
+{"source_uid": "b56a1a23f7463f01", "num_frames": 1910, "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "88c3d9f4-1031-4fbb-8c9a-254f7cccd910"}, {"label": "valid", "start_step": 0, "end_step": 1881, "id": "sQQXCk9nlJ6kONG3NGBbE"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 115, "end_step": 228, "id": "a623583e-d75e-43b4-870e-1cce56ab6fa5"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "goal", "start_step": 229, "end_step": 304, "id": "5afef8a3-0115-4a17-aa79-c8b72e690598"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "goal", "start_step": 305, "end_step": 412, "id": "353e7bfc-e7f0-411e-b469-e210c6ee1888"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "goal", "start_step": 413, "end_step": 462, "id": "243c45ed-2d44-4588-84da-31154a32d60c"}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "goal", "start_step": 463, "end_step": 634, "id": "42222b42-e8d8-48df-bbb6-c8d253f73f84"}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "goal", "start_step": 635, "end_step": 702, "id": "cb09257a-37e5-4bb6-b85c-a45c5a63a0ac"}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "goal", "start_step": 703, "end_step": 822, "id": "3d1ce83f-079a-40ae-bb36-f1a05a650ba0"}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": "goal", "start_step": 823, "end_step": 874, "id": "368d3ad8-29e0-436d-a662-c228a60fa742"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 875, "end_step": 986, "id": "ba425457-2874-4365-9b24-af70d37b2062"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "goal", "start_step": 987, "end_step": 1044, "id": "5e381de3-2e8f-48aa-ac33-aa7ca4f3d249"}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1045, "end_step": 1162, "id": "f845ac5b-3ffb-4e46-8473-6c264930cbde"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 1163, "end_step": 1244, "id": "8f4a2d6a-3289-440b-b88a-42252cc689fc"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "goal", "start_step": 1245, "end_step": 1340, "id": "2b6c1315-4fed-4481-a20a-60ec684a6184"}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "goal", "start_step": 1341, "end_step": 1500, "id": "6b6e26e5-66ec-4019-baee-50847d3eee49"}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1634, "id": "94fe5c8e-0429-4b07-9a1f-7ac204f45f2a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "goal", "start_step": 1635, "end_step": 1704, "id": "36da88a9-1e0c-4389-a785-c45e845fada7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1705, "end_step": 1840, "id": "a83ba1b9-5add-4200-983f-a06c0d8b7577"}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}, {"label": "home", "start_step": 1882, "end_step": 1909, "id": "EabqkK9pzAkoWDr48N-5i"}], "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 moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "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 to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "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 block from the table and moves it above the leftmost purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "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 aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 225, "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: grasp: Right hand adjusts fingers to form stable grasp on the white block attached to the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "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 grasped white and green block off the purple rod and transports it downward to the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00007", "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 and green block on the black table and releases the grasp."}, {"label": "subtasks", "start_step": 292, "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_grasp: Right hand reaches toward the white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 300, "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: lift: Right hand lifts the white hexagonal nut from the black table surface with a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00010", "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 nut towards the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "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 leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 368, "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: press: Right hand presses the white hexagonal nut down along the purple peg until it reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "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 opens its fingers to release the white hexagonal nut from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "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 downward toward the white hexagonal ring placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "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 ring on the table, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 480, "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: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "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 ring with the target purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00018", "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 ring which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 645, "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 block on the table near the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "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 block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "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 block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00022", "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": 840, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "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 green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "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 green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "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 transports the green hexagonal block to above the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the white peg on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "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 green hexagonal block on the white peg of the wooden base without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the green block on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "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 to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "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 white hexagonal block on the black table."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the upper part of the peg on the wooden base."}, {"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: place: Right hand places the white hexagonal block onto the corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00034", "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 to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1155, "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: place_release: Right hand places the white hexagonal block onto the pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "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 contacts the white hexagonal block on the table, fingers close to grasp the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "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 block on the tabletop next to the wooden base by closing fingers."}, {"label": "subtasks", "start_step": 1268, "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 block from the tabletop and transports it to the position above the purple rod 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: Right hand mates the white hexagonal block with the purple rod by aligning the hole of the block with the rod and inserting it downwards."}, {"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: release: Right hand releases the white hexagonal block after the block is fully placed onto the purple rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "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 towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "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 adjusts its fingers to form a stable grasp on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "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 table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00045", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00046", "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00047", "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 cap onto the top of the white column on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00048", "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 green block placed on the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00049", "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 table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1718, "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: lift_transport: Right hand lifts the green block off the table and transports it towards the target white column on the wooden base."}, {"label": "subtasks", "start_step": 1748, "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: mate: Right hand aligns the green block with the target white column and fits it onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "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 block that is fitted onto the white column."}], "episode_index": 33}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0b041f66032098ef79b905156fee543a31c5712a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d11406d70155706638497b01a40165e424e890e745a301c2b6c979dc6e286e4
+size 1019484
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e90eb76ebce5da545220065a1c5be1e62ad54b2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 34,
+    "total_frames": 78803,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:34"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.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_27_19_29_06_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b1e1da9b583cb877fd40112da6615985975b9e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "observation.state.joint_torque": {
+        "min": [
+            -45.076499938964844,
+            -21.529499053955078,
+            -23.773000717163086,
+            -16.534000396728516,
+            -1.2496000528335571,
+            -3.4384000301361084,
+            -8.774399757385254,
+            -4.643280982971191,
+            -1.5587977170944214,
+            -0.7978067398071289,
+            -2.014399766921997,
+            -0.9214420318603516,
+            -1.9947260618209839,
+            -0.8088283538818359,
+            -0.26896145939826965,
+            -0.0827663391828537,
+            -0.8740718960762024,
+            -0.6178949475288391,
+            -0.15274357795715332,
+            -0.03567514568567276,
+            -0.3809073269367218,
+            -0.6428410410881042,
+            -0.13780125975608826,
+            -0.03710215538740158,
+            -0.49125784635543823,
+            -1.133127212524414,
+            -1.4372775554656982,
+            -1.054262638092041,
+            -0.21333740651607513,
+            -6.576000213623047,
+            -17.1825008392334,
+            -11.875,
+            -11.685999870300293,
+            -3.2344000339508057,
+            -7.092800140380859,
+            -4.43120002746582,
+            -1.9535911083221436,
+            -1.9777882099151611,
+            -1.4850139617919922,
+            -2.044224262237549,
+            -0.4034422039985657,
+            -1.544737458229065,
+            -1.1830193996429443,
+            -0.7321729063987732,
+            -0.20334836840629578,
+            -1.8805499076843262,
+            -2.1396052837371826,
+            -0.8649933934211731,
+            -0.15054912865161896,
+            -1.5572104454040527,
+            -1.8383334875106812,
+            -0.7305126786231995,
+            -0.15554364025592804,
+            -0.4908180236816406,
+            -1.500602126121521,
+            -1.4507099390029907,
+            -0.7985832095146179,
+            -0.1591111570596695,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            -1.5540000200271606,
+            27.364500045776367,
+            9.02299976348877,
+            10.956999778747559,
+            3.691200017929077,
+            4.104800224304199,
+            3.5552000999450684,
+            1.1652777194976807,
+            0.6061991453170776,
+            1.5309935808181763,
+            0.7480990886688232,
+            0.19757047295570374,
+            0.7464631795883179,
+            1.8815094232559204,
+            0.1062563955783844,
+            0.02497260272502899,
+            0.6150165796279907,
+            1.0477349758148193,
+            0.20089100301265717,
+            0.02425910159945488,
+            0.471096932888031,
+            0.5008403658866882,
+            0.12285894900560379,
+            0.02354559674859047,
+            0.15217117965221405,
+            0.7080846428871155,
+            2.1434431076049805,
+            0.13780125975608826,
+            0.022118592634797096,
+            48.6614990234375,
+            21.75749969482422,
+            25.28499984741211,
+            6.75600004196167,
+            0.8447999954223633,
+            6.578400135040283,
+            7.281599998474121,
+            4.159340858459473,
+            5.018971920013428,
+            2.7624988555908203,
+            1.9137420654296875,
+            0.7603973150253296,
+            2.154956579208374,
+            2.1405646800994873,
+            1.0625640153884888,
+            0.2169049084186554,
+            1.6032646894454956,
+            0.6984899640083313,
+            0.7587370276451111,
+            0.20263484120368958,
+            1.5658456087112427,
+            1.0851540565490723,
+            0.7703588008880615,
+            0.20263484120368958,
+            0.4098946154117584,
+            1.6176567077636719,
+            1.1292893886566162,
+            0.723871648311615,
+            0.20334836840629578,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -28.00860774624011,
+            2.0253891944507068,
+            -12.713715448758672,
+            -1.712550186795341,
+            -0.21441599374092582,
+            -0.397520878662256,
+            1.6035851757602002,
+            -0.0016551021935286596,
+            -0.0018189405382125806,
+            0.025218510581150242,
+            0.0047110833784391295,
+            0.0019578319960628144,
+            0.013498993921107648,
+            0.010153384877115226,
+            0.0004513493749729227,
+            7.757680715835784e-05,
+            0.016956703163208,
+            0.003182343259653587,
+            0.0019115631131027238,
+            0.00015472843554237715,
+            0.025540995737856245,
+            0.030877166172064322,
+            0.0005424703642392379,
+            -0.0009651486680729849,
+            -0.0032686556135491196,
+            0.003892802081708193,
+            0.02809411652018219,
+            -0.003294154175668963,
+            -0.0009638895224395582,
+            27.070362164644646,
+            0.9321045119726145,
+            12.830801211811755,
+            -1.99188574930406,
+            -0.5531987647213004,
+            1.4569396169809226,
+            -0.9502015699265068,
+            0.29886797797947207,
+            1.3080383280330377,
+            0.4042988671106991,
+            0.16686180420609903,
+            0.13353764215703637,
+            0.9331185203541742,
+            -0.0767528996306628,
+            0.41179889482137144,
+            0.10599436331116067,
+            -0.08136290053229903,
+            -0.14095383103342538,
+            -0.00040923202176647294,
+            -0.00036553862119204756,
+            0.0017923284837240362,
+            -0.01579030366375447,
+            -0.0002938189093207781,
+            -0.001702137104321973,
+            -0.0012854266379835942,
+            -0.005204747684625574,
+            -0.008536252587474851,
+            -0.013437913939464682,
+            0.0012311647195392959,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            1.8651121619546496,
+            1.1110155292015054,
+            1.2916153816214921,
+            0.7957048116488771,
+            0.3662830133358365,
+            0.4298386022916624,
+            0.4671040794865126,
+            0.05298929412577826,
+            0.029782663126945292,
+            0.06437699358143938,
+            0.0610126867006831,
+            0.012907172588470793,
+            0.06116844525010305,
+            0.05976471496501769,
+            0.007614899860490544,
+            0.004297643933889583,
+            0.05128492101008329,
+            0.0475205932716483,
+            0.015339325411216515,
+            0.004051719816299465,
+            0.051606995054380045,
+            0.0733907475127195,
+            0.00666650208522578,
+            0.005365632307405774,
+            0.018564847459768264,
+            0.07051631007623511,
+            0.13186601436848852,
+            0.04088381135643641,
+            0.009751745415106379,
+            4.286817533571111,
+            1.986576176736679,
+            1.9094683025061268,
+            1.7428501157391936,
+            0.33630726452392423,
+            0.7677834574031769,
+            0.5664459857494522,
+            0.6935846015262376,
+            1.5261350856663083,
+            0.5526274386053481,
+            0.3582055838604422,
+            0.1657310811646944,
+            0.9676460505644363,
+            0.2565900991559484,
+            0.4346224482914663,
+            0.10292802840913032,
+            0.23395935118980918,
+            0.22270633321345976,
+            0.03270826848378492,
+            0.009313977666214961,
+            0.07488043729899042,
+            0.07677422402816052,
+            0.02783554073920636,
+            0.010271299772454995,
+            0.022976682710879368,
+            0.12784116338223256,
+            0.10365140161066569,
+            0.041577092140390015,
+            0.011578180411054888,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            -29.67354770696828,
+            -0.045840137516139336,
+            -14.713343316434555,
+            -4.213850394835601,
+            -0.5242585680826508,
+            -0.9290802649110691,
+            0.8224303351464171,
+            -0.18390020636974405,
+            -0.12863897528962945,
+            -0.16428149281277835,
+            -0.17882458855261169,
+            -0.03487698369984483,
+            -0.1828327106637107,
+            -0.19901755320214906,
+            -0.02999466878767091,
+            -0.01970972295423754,
+            -0.11433253386764773,
+            -0.16833342666560788,
+            -0.05032003508451542,
+            -0.018973098289502385,
+            -0.09260702773877114,
+            -0.2136365851580076,
+            -0.011639187624103028,
+            -0.0236619353682608,
+            -0.07157112677291698,
+            -0.12729091515268365,
+            -0.2334663060467927,
+            -0.06516131758076456,
+            -0.02447939280079006,
+            14.842529030927142,
+            -2.6998217015802055,
+            5.5052992356181285,
+            -6.0533864827184,
+            -1.461269501609398,
+            -1.2995783546857376,
+            -2.6633238883247405,
+            -1.0957080003619117,
+            -0.5306582803843709,
+            -0.24640317222243946,
+            -0.5753821867265958,
+            -0.07498130527153761,
+            -0.3080410180615777,
+            -0.7764560393164288,
+            -0.07804204095727356,
+            -0.025620436236661208,
+            -0.8433128501030862,
+            -0.8295131184639041,
+            -0.09829440465477636,
+            -0.01715496476618447,
+            -0.1792287164372474,
+            -0.25680121886996393,
+            -0.07884994349259504,
+            -0.03070165231848625,
+            -0.08039463841366795,
+            -0.26453718142478533,
+            -0.3003605739094381,
+            -0.09991706977358865,
+            -0.05681788398506839,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16
+        ],
+        "q10": [
+            -29.001206890935592,
+            1.0172590739510223,
+            -13.806701109859961,
+            -2.4484134501264494,
+            -0.4551141743934625,
+            -0.78638487478568,
+            1.3305443752838135,
+            -0.005070487020937885,
+            -0.005173027279668005,
+            -0.019458200621172966,
+            -0.04718688420719781,
+            -2.6144092375090415e-05,
+            -0.007661309067978763,
+            -0.004448829989394244,
+            -5.788207037876487e-05,
+            -0.0006696285221358601,
+            -0.008511220880327448,
+            -0.02552537617962686,
+            -0.00040088266007114187,
+            -0.000627829285294824,
+            -0.0074697055477904424,
+            -0.006574934672200319,
+            -0.00012808021429253105,
+            -0.004140502558598686,
+            -0.008613383431646358,
+            -0.027347540722431306,
+            -0.0029444695673840407,
+            -0.013352533269058737,
+            -0.003938980207814475,
+            21.19696320381868,
+            -1.3544506688257236,
+            11.268911863881568,
+            -4.5187910773162425,
+            -0.9199963465830415,
+            0.7386004162248001,
+            -1.510445869054449,
+            -0.38865521989588714,
+            -0.19262671195384842,
+            -0.08656282645646775,
+            -0.15632234826378844,
+            -0.02507157601292598,
+            -0.13497677915842038,
+            -0.3894490235028533,
+            -0.02436249660658744,
+            -0.00806847508718643,
+            -0.3477550599407673,
+            -0.4279569737580424,
+            -0.026708685740934247,
+            -0.007838694863378457,
+            -0.0696917927472218,
+            -0.09274606278352798,
+            -0.023557139869359308,
+            -0.009336794573306622,
+            -0.010914436025863287,
+            -0.13854293819916577,
+            -0.13517144824950772,
+            -0.04750801930671833,
+            -0.0005104243491502279,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15
+        ],
+        "q50": [
+            -28.161771769758715,
+            1.9577309053767953,
+            -12.687050686100214,
+            -1.6286185255821592,
+            -0.30687473901549217,
+            -0.5098633518708454,
+            1.5813867060555185,
+            0.000488362341179514,
+            0.0002507491892128786,
+            0.015614421258396183,
+            0.0015564128848365017,
+            9.733280859734676e-05,
+            0.001169276809220158,
+            0.0010568028049869715,
+            3.6914715708572547e-06,
+            -2.3924188183787516e-07,
+            0.005955714592819246,
+            0.001288442832953255,
+            6.731362506609289e-06,
+            1.9322374091311887e-07,
+            0.00922280263797076,
+            0.013880402172525955,
+            3.768292360809541e-06,
+            -2.0554635014455933e-07,
+            -3.479297164562073e-05,
+            0.0016122693116578882,
+            0.007334892901689552,
+            4.495944227861402e-06,
+            1.472140799946475e-07,
+            28.13161999205614,
+            0.7048423185876492,
+            13.015737729572132,
+            -1.6546813683095452,
+            -0.541007404176749,
+            1.4470984285302932,
+            -0.9250633139323906,
+            0.14139542864953009,
+            0.7494081330771281,
+            0.23005917912382676,
+            0.1022674730896019,
+            0.09052611093925675,
+            0.7630556724572163,
+            -0.012782377060901537,
+            0.32082090230895133,
+            0.10853907764028753,
+            -0.0340453345313958,
+            -0.07149251662957132,
+            -0.0010215932331183667,
+            -0.003955490020090781,
+            -0.002956099581118734,
+            -0.0068355999827249105,
+            -0.0016052932362633139,
+            -0.0055484779280931314,
+            1.3477730783952027e-06,
+            -0.022294596220186615,
+            0.002707347665249378,
+            -0.02240028140988179,
+            0.0012355581708969154,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            -26.85171009400237,
+            3.102139254444918,
+            -11.710393290672556,
+            -1.0345131572527184,
+            0.126988876227156,
+            0.1861382410589852,
+            1.9534617311244091,
+            0.01319800597834202,
+            0.00783417986720198,
+            0.09319793294807935,
+            0.06254512043189714,
+            0.00851217726429281,
+            0.07165755131769584,
+            0.05849929200868635,
+            0.0012542087871531735,
+            0.001639557184271521,
+            0.06733529553579791,
+            0.039508909729172405,
+            0.008997704417158464,
+            0.0027937240688513713,
+            0.09027593223604732,
+            0.11528043452124884,
+            0.0014079579912495135,
+            0.0017306751966063875,
+            0.0004544528486616157,
+            0.04141680906693602,
+            0.11496622021542949,
+            0.0009726964557985847,
+            0.0012427082604014696,
+            31.47481578005078,
+            3.6194260062299803,
+            14.474804528521766,
+            -0.03524621303725862,
+            -0.17333700518804465,
+            2.2472258891005255,
+            -0.433641594670765,
+            1.2887000140625269,
+            3.6527863710925192,
+            1.2878637012957532,
+            0.6919880389453219,
+            0.38104117997305437,
+            2.1210948955220714,
+            0.10576369845802108,
+            1.0357901884164438,
+            0.21334222135729602,
+            0.10530853035028628,
+            0.03700814918524761,
+            0.03084096883595978,
+            0.012922368103722489,
+            0.08333672769607055,
+            0.05190485233651411,
+            0.030844257084850692,
+            0.013362027671793245,
+            0.00703822034320372,
+            0.16197858302999035,
+            0.10029793913008551,
+            0.04074942581122917,
+            0.009070946388874474,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14
+        ],
+        "q99": [
+            -24.189660111431266,
+            4.780236033617936,
+            -10.43298742849443,
+            -0.3873788161454845,
+            1.0097521324893095,
+            0.780263791053815,
+            2.1538864663465707,
+            0.055788396318508245,
+            0.04330373827712981,
+            0.21571718991127756,
+            0.1883044705744702,
+            0.040137035394782375,
+            0.21573954599177203,
+            0.1773236806981941,
+            0.025919990772540594,
+            0.011566373240957927,
+            0.18799127470395746,
+            0.14201418643964145,
+            0.05617683849839058,
+            0.010120879988657166,
+            0.19853176399954048,
+            0.24433116355325488,
+            0.021206149152986468,
+            0.008117486401489281,
+            0.007029697324060331,
+            0.11215088692685522,
+            0.3098752089364183,
+            0.014078613682627802,
+            0.006973490190061962,
+            33.765444273503,
+            6.203515520773357,
+            16.68065804975377,
+            0.9154112199430003,
+            0.053735521988020174,
+            2.579680113961787,
+            0.5483340723765401,
+            2.212334051956076,
+            4.520669609469183,
+            2.0096598188818993,
+            1.2517814074194737,
+            0.5567452573492843,
+            2.1404047969924274,
+            0.40471811953959896,
+            1.0552945924860233,
+            0.2133675160351476,
+            0.3377302308102427,
+            0.13966321302007426,
+            0.07818409940206152,
+            0.016780797956895778,
+            0.20030363798132025,
+            0.1477028645815158,
+            0.07074786582947831,
+            0.01688837978757142,
+            0.06043681933285271,
+            0.3143990539019386,
+            0.22783554155137792,
+            0.09049112084327975,
+            0.014432630701892173,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.9719142913818359,
+            -0.8535661697387695,
+            -0.22511731088161469,
+            0.8267230987548828,
+            -0.15051384270191193,
+            -0.7699997425079346,
+            0.05526825040578842,
+            0.00651629688218236,
+            -0.001238721888512373,
+            -0.32053741812705994,
+            2.708471402002033e-05,
+            0.003480389015749097,
+            -0.0006684811087325215,
+            -0.1522459089756012,
+            0.003439259948208928,
+            0.000815454637631774,
+            -0.0034309644252061844,
+            -0.18095503747463226,
+            0.003027966944500804,
+            0.0008043691050261259,
+            -0.003545771585777402,
+            -0.02695634961128235,
+            0.0026308565866202116,
+            0.00077111239079386,
+            0.005616118665784597,
+            -0.006776060443371534,
+            -0.02606046386063099,
+            -0.006554803811013699,
+            -0.003648926969617605,
+            0.8811380863189697,
+            -1.1781326532363892,
+            -0.2436324656009674,
+            0.9317548871040344,
+            -1.964755654335022,
+            -0.883159339427948,
+            -0.5131102204322815,
+            0.005276130046695471,
+            -0.257815420627594,
+            -0.3126008212566376,
+            -0.28044402599334717,
+            0.0032456684857606888,
+            -0.0015565184876322746,
+            -0.20007409155368805,
+            0.0034959898330271244,
+            0.0007697821129113436,
+            -0.0034699691459536552,
+            -0.12891873717308044,
+            0.0029559906106442213,
+            0.0008531456696800888,
+            -0.0022220537066459656,
+            -0.1616782695055008,
+            0.0034747160971164703,
+            0.0008096902165561914,
+            0.006110618822276592,
+            -0.003507260698825121,
+            -0.18759740889072418,
+            0.003222621977329254,
+            0.0007684518350288272,
+            0.5617246031761169,
+            -1.1073423624038696,
+            0.5437003374099731,
+            -0.0012463594321161509,
+            -0.00028762139845639467,
+            -0.03298058733344078,
+            -0.8696712255477905
+        ],
+        "max": [
+            1.3104676008224487,
+            -0.46295952796936035,
+            1.1984224101979635e-07,
+            1.5700000524520874,
+            0.3748764991760254,
+            0.46889910101890564,
+            0.698175311088562,
+            1.474609136581421,
+            0.2995039224624634,
+            0.09440134465694427,
+            0.28436827659606934,
+            0.73246169090271,
+            0.9122768640518188,
+            0.173064723610878,
+            0.15559637546539307,
+            0.05944926291704178,
+            0.8939357399940491,
+            0.27327144145965576,
+            0.11176779121160507,
+            0.05485451593995094,
+            0.8063090443611145,
+            0.27891093492507935,
+            0.12225398421287537,
+            0.05942931026220322,
+            0.2787219285964966,
+            0.7975242733955383,
+            0.28587910532951355,
+            0.31535816192626953,
+            0.10561578720808029,
+            1.532212257385254,
+            -0.25430819392204285,
+            3.355582975927973e-06,
+            1.9740618467330933,
+            0.2324739545583725,
+            0.12540508806705475,
+            0.6981747150421143,
+            1.4769233465194702,
+            0.29483380913734436,
+            0.5072004199028015,
+            0.301419198513031,
+            0.994038999080658,
+            1.1870626211166382,
+            0.18730153143405914,
+            0.9938716292381287,
+            0.8501201272010803,
+            1.4686310291290283,
+            0.2889477610588074,
+            1.5400811433792114,
+            1.1873455047607422,
+            1.4666391611099243,
+            0.2981882393360138,
+            1.5821431875228882,
+            1.3081800937652588,
+            0.24981075525283813,
+            1.4683982133865356,
+            0.29861581325531006,
+            1.5329192876815796,
+            1.3124927282333374,
+            0.5633544325828552,
+            -1.106479525566101,
+            0.5444673299789429,
+            0.0005752427969127893,
+            0.0003834952076431364,
+            0.17717477679252625,
+            -0.48464205861091614
+        ],
+        "mean": [
+            1.144647523860448,
+            -0.6409048642641476,
+            -0.2212895089715631,
+            1.1279184197132404,
+            0.0685967372527524,
+            0.09311020622048832,
+            0.3315047073562883,
+            1.3136710424967082,
+            0.2794389252420438,
+            -0.1351799899569558,
+            0.18402527875929492,
+            0.5575930267141648,
+            0.3945295709322478,
+            0.1115311198630982,
+            0.03495419380040623,
+            0.03265772021583352,
+            0.2555378753977301,
+            0.1830594340059468,
+            0.0367897380196563,
+            0.027864331000080587,
+            0.06751055707241309,
+            0.18997906820321886,
+            0.011105398129603478,
+            0.009020037486879342,
+            0.1597486965277136,
+            0.05881089613505038,
+            0.21501335971625737,
+            0.01434381507463315,
+            0.009355439110529993,
+            1.2559824606737624,
+            -0.6203471239659378,
+            -0.22797454048320684,
+            1.321528833771657,
+            -1.3184645294200683,
+            -0.31472049573940536,
+            -0.016157746950495842,
+            1.2534571225807472,
+            0.05773396460048837,
+            0.032619477229274774,
+            -0.04455831606726175,
+            0.1801293011411877,
+            0.843556309426168,
+            0.06887326129485688,
+            0.20169621501806484,
+            0.205391087580512,
+            1.1901991505091163,
+            -0.04525118732065284,
+            1.1906712016147076,
+            0.49731261282185424,
+            1.313078966509616,
+            -0.09827239999072432,
+            1.3117548203938183,
+            0.6820818025220229,
+            0.0421790623679974,
+            1.2588344633056598,
+            -0.11606753485953612,
+            1.008556934866934,
+            1.243493899879072,
+            0.5626936313814117,
+            -1.1068550947255478,
+            0.5440913202580984,
+            -0.000344835300493383,
+            -1.0341318266823004e-07,
+            0.06487666996902863,
+            -0.7051825857081696
+        ],
+        "std": [
+            0.05879106039252431,
+            0.06260800228639252,
+            0.0209493651913305,
+            0.11063053757609004,
+            0.07673147022701357,
+            0.1885098204533801,
+            0.12296036667704575,
+            0.15011254838115978,
+            0.03669640287502764,
+            0.07595941753574384,
+            0.052068495585757615,
+            0.11971969864592405,
+            0.14147354472836218,
+            0.032030267502240146,
+            0.021106351934303286,
+            0.009172531735602334,
+            0.1651266936557613,
+            0.05034266978470248,
+            0.01677786428147797,
+            0.012376455294327258,
+            0.10938771346864636,
+            0.05355862476279785,
+            0.016383577094704633,
+            0.01024806257843581,
+            0.08811645145299199,
+            0.11951087536614641,
+            0.050779931304848876,
+            0.03209733051647564,
+            0.013981100202032101,
+            0.11406479395726352,
+            0.16440610363871871,
+            0.0239700468314359,
+            0.18060298228649027,
+            0.34091352511361767,
+            0.14821577286462018,
+            0.19449077956751656,
+            0.16754976528091772,
+            0.09045068579783914,
+            0.13501491087012357,
+            0.09478243085944679,
+            0.143952204303279,
+            0.20123038844409188,
+            0.038854291770039816,
+            0.1526740907941541,
+            0.13333614486715378,
+            0.23543643672142558,
+            0.03732558151658002,
+            0.27734384387718886,
+            0.28684070658327276,
+            0.26755007811256815,
+            0.050494972218931025,
+            0.29505675884553084,
+            0.2831824902947249,
+            0.028827780045904635,
+            0.2601994743484105,
+            0.05806599254792097,
+            0.2936044275945067,
+            0.26900778569924855,
+            0.0002229629958337569,
+            0.0018677719725319647,
+            0.0010716722821006454,
+            0.0003035107045445358,
+            1.0055766233587622e-05,
+            0.03127946505924942,
+            0.04244009091104418
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            1.0585022703849702,
+            -0.7631004658668729,
+            -0.22416970541358705,
+            1.0380132564773739,
+            -0.04298986663642929,
+            -0.5820924036981178,
+            0.19887048769688948,
+            0.3880052395604619,
+            0.03693917571281438,
+            -0.22344583590957662,
+            0.035698208897672626,
+            0.0685978961218618,
+            0.03453986499803105,
+            -0.011063025072454505,
+            0.004609166180082966,
+            0.002492005971799939,
+            0.001616428699864154,
+            -0.015697448298158195,
+            0.004919832011497703,
+            0.001050216534899851,
+            -0.0011582981540878585,
+            -0.011210755728608432,
+            0.003577025457483061,
+            0.0009358647580285838,
+            0.03445958875067183,
+            -0.0018583717205667577,
+            -0.003240735364115116,
+            0.002609420968749072,
+            0.0009586953022665126,
+            1.002423200974696,
+            -1.0442344231877225,
+            -0.24264966749325267,
+            1.0618627422504594,
+            -1.7022529248454485,
+            -0.6749739327427412,
+            -0.30085499357450746,
+            0.19819096214598259,
+            -0.10551014534769439,
+            -0.21815033002223014,
+            -0.17566831453963352,
+            0.015841748036557808,
+            0.04145839568646407,
+            -0.04714783275317945,
+            0.008096186922748777,
+            0.00543663722768971,
+            0.009235393052458754,
+            -0.08430407610041125,
+            0.006042155604574641,
+            0.0024785639197386954,
+            -1.9637690245350367e-05,
+            -0.13299368533294367,
+            0.003826050549715488,
+            0.0010351610912762254,
+            0.01245098320953284,
+            -9.014895678973574e-05,
+            -0.15372862542018678,
+            0.0038654186324366666,
+            0.0010606189600176911,
+            0.5625808434819369,
+            -1.106958846223602,
+            0.5439785471438353,
+            -0.000632004602123696,
+            -1.263373476990266e-05,
+            0.0011632081492996555,
+            -0.7562008864129344
+        ],
+        "q10": [
+            1.0770209476706252,
+            -0.6854329747656501,
+            -0.22411589754841724,
+            1.0540313013652554,
+            0.032714850674782,
+            -0.08493789777025623,
+            0.23442843209417297,
+            1.3067749048556678,
+            0.2732650590195835,
+            -0.18487952759783122,
+            0.15520391056234042,
+            0.5513478732259186,
+            0.3782447959913566,
+            0.10354321834248364,
+            0.03461610278016786,
+            0.03207309437438406,
+            0.20188282288038126,
+            0.1614365140778982,
+            0.030662858966744547,
+            0.02341091817306434,
+            0.03676280604567832,
+            0.1596857207175214,
+            0.007833670465972406,
+            0.00590030659275246,
+            0.13298585482559175,
+            0.03141955974779248,
+            0.19342555724932656,
+            0.009469141877643208,
+            0.006035162324623845,
+            1.0983895800328034,
+            -0.8501578746667652,
+            -0.24149893693944655,
+            1.1319566015844926,
+            -1.6074924372816128,
+            -0.4792787676469776,
+            -0.1874192242093562,
+            1.1713650336450432,
+            -0.03651328565606825,
+            -0.1174443715427073,
+            -0.1310054826297264,
+            0.054832831937522836,
+            0.6588932276193122,
+            0.04050101555574055,
+            0.07576367175117908,
+            0.07100747491182463,
+            1.1836366946631869,
+            -0.06724937704041192,
+            1.1553194164046776,
+            0.41487753966180557,
+            1.3117863503120832,
+            -0.12256790856327139,
+            1.2849479757867968,
+            0.5197845996232647,
+            0.029319783997448192,
+            1.247651413240869,
+            -0.14305010562089937,
+            0.8152184891749826,
+            1.2954686586767818,
+            0.5626751830898088,
+            -1.1068879732801484,
+            0.5440623245003713,
+            -0.0005451671511673953,
+            -5.69797277447223e-09,
+            0.03953985323694397,
+            -0.7362837111851983
+        ],
+        "q50": [
+            1.1415972136363515,
+            -0.6333294731039831,
+            -0.22400919833228927,
+            1.1057129511213406,
+            0.07556441025780782,
+            0.14186437956408235,
+            0.30756403111975067,
+            1.3291448382081397,
+            0.2860577433916311,
+            -0.1287082359884717,
+            0.1871198152177288,
+            0.5656460683125852,
+            0.3990635617335192,
+            0.11554403443533753,
+            0.035532738340035806,
+            0.03286194987921129,
+            0.25859513804555007,
+            0.1916705639788929,
+            0.037563132043047676,
+            0.0282720322482844,
+            0.06764568282969496,
+            0.20073496808281469,
+            0.01105387712799931,
+            0.009080072524935688,
+            0.1664352434712669,
+            0.06046103146095602,
+            0.2249277605622269,
+            0.014823914016481456,
+            0.00938154291305076,
+            1.292736629831198,
+            -0.6027113526089568,
+            -0.23179947516461588,
+            1.267251638982587,
+            -1.3826630738907149,
+            -0.3069445396325605,
+            -0.05001456551073414,
+            1.2894799471237446,
+            0.05979742935025775,
+            0.03542258756361685,
+            -0.059176789740200485,
+            0.1492626817862629,
+            0.8811432143209,
+            0.07250812891609325,
+            0.17871632651418387,
+            0.18637226323313286,
+            1.2375332282517228,
+            -0.05018263335785789,
+            1.2469828373123764,
+            0.5149454249499974,
+            1.3726768318694156,
+            -0.1080276867569901,
+            1.3679725799880325,
+            0.6893862450797109,
+            0.03933305433027295,
+            1.316632069934343,
+            -0.12767088975380167,
+            1.0484469646694445,
+            1.3068505828499288,
+            0.5626833752553935,
+            -1.1068629596971364,
+            0.5440893709259971,
+            -0.0003876820944992017,
+            1.4731077642653422e-08,
+            0.0690742478248373,
+            -0.7127797126435056
+        ],
+        "q90": [
+            1.219571853165071,
+            -0.6052049289430637,
+            -0.22355142395061955,
+            1.232965915220315,
+            0.10082264910908147,
+            0.21729756012132567,
+            0.46578168825743166,
+            1.3583152803413465,
+            0.2919333843830401,
+            -0.09711744978081538,
+            0.2141286233682416,
+            0.5837988467992777,
+            0.43552774932633853,
+            0.12388068802728813,
+            0.03712615568983674,
+            0.035228163273874916,
+            0.3255751860704538,
+            0.20964367049502253,
+            0.04466024605492016,
+            0.03396348895736529,
+            0.09735618396753984,
+            0.22237869653386766,
+            0.014022366815958903,
+            0.012285447508481841,
+            0.1832102659227644,
+            0.08343817002973519,
+            0.24152128489966376,
+            0.01769433566938977,
+            0.01285408209439356,
+            1.3780536773464833,
+            -0.41066819047112385,
+            -0.21474136386075202,
+            1.5845441045158186,
+            -1.0289333727055656,
+            -0.15613334520506172,
+            0.1622454067019908,
+            1.3463724956954188,
+            0.14867077257183975,
+            0.17297236757514106,
+            0.05651137478074461,
+            0.3490857835994429,
+            1.0361496775452004,
+            0.09911628221618117,
+            0.3809167294308844,
+            0.38091120041569726,
+            1.2775494280362831,
+            -0.025224661719406058,
+            1.3263190315475142,
+            0.6135782308146699,
+            1.404128079792562,
+            -0.08431086527948135,
+            1.4583861576670112,
+            0.9150138979173245,
+            0.04928032073712646,
+            1.3555056570539998,
+            -0.10349208259041263,
+            1.2442762214090706,
+            1.3079552752816872,
+            0.5626859822581647,
+            -1.1068406503073525,
+            0.5441412808505148,
+            -9.512567365646309e-05,
+            3.516012805977907e-08,
+            0.08495233512523116,
+            -0.6613403482662491
+        ],
+        "q99": [
+            1.2427164854142259,
+            -0.5934099902324889,
+            -0.0859228874969661,
+            1.4607979137219507,
+            0.11204552016435976,
+            0.238442841621826,
+            0.6523524686659484,
+            1.3670970416288795,
+            0.292945135531745,
+            -0.023671445765970404,
+            0.23630142799980713,
+            0.5879129900837804,
+            0.45010709198156196,
+            0.12584808385294913,
+            0.03795928313033418,
+            0.03615129334696558,
+            0.3388793477964201,
+            0.21395539819501797,
+            0.046542010401893756,
+            0.035185318968029955,
+            0.10571177514765993,
+            0.2271283107473786,
+            0.014419107689186701,
+            0.01322480062610949,
+            0.2193266772684701,
+            0.09261959113834678,
+            0.24527107818073937,
+            0.022171776327290053,
+            0.014653571583714201,
+            1.4349699715149966,
+            -0.34246760015931715,
+            -0.09912753152205862,
+            1.7347000873546141,
+            0.045890093838921266,
+            -0.0688866410569305,
+            0.6326838672890245,
+            1.384756751872928,
+            0.23470963764688063,
+            0.27632790227765397,
+            0.21445114949659744,
+            0.5398312498267065,
+            1.08487056192888,
+            0.11821139093704565,
+            0.5324477557842275,
+            0.4682937669865086,
+            1.3164441420163049,
+            0.11126427972063208,
+            1.3694652580401647,
+            0.6945144212944422,
+            1.4269232546323956,
+            0.15922930863357487,
+            1.5016803596411796,
+            1.0028674928935293,
+            0.18496646458001648,
+            1.3902936826416041,
+            0.19181214800099328,
+            1.4315757249863594,
+            1.30822773628628,
+            0.5627821544141437,
+            -1.1067580644277106,
+            0.5442520842602994,
+            0.00016478228110953507,
+            5.244669006565239e-06,
+            0.09273176054492131,
+            -0.5962609760447005
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.9999999999994166e-15
+        ],
+        "q50": [
+            1.999999999999709e-14
+        ],
+        "q90": [
+            3.5999999999994766e-14
+        ],
+        "q99": [
+            3.9599999999994235e-14
+        ]
+    },
+    "subtask_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1775
+        ],
+        "mean": [
+            838.7397561006561
+        ],
+        "std": [
+            528.5046009190658
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            48.468332423792496
+        ],
+        "q10": [
+            818.0659352165661
+        ],
+        "q50": [
+            871.8671026525122
+        ],
+        "q90": [
+            893.8820165466791
+        ],
+        "q99": [
+            897.2573615747997
+        ]
+    },
+    "observation.tactile": {
+        "min": [
+            -0.029418034479022026,
+            -4.523684037849307e-05,
+            -9.992977720685303e-05,
+            -0.001973642036318779,
+            -0.00020939725800417364,
+            -0.0005437516956590116,
+            -7.99987268447876,
+            -5.431237514130771e-05,
+            -1.3941673040390015,
+            -0.007990796118974686,
+            -0.0016389876836910844,
+            -0.15509137511253357,
+            -0.021764978766441345,
+            -5.175293699721806e-05,
+            -0.00011549778719199821,
+            -0.002159403869882226,
+            -9.480916196480393e-05,
+            -0.00048000048263929784,
+            -1.8257321119308472,
+            -3.718782318173908e-05,
+            -0.046718914061784744,
+            -0.002476134803146124,
+            -9.954543929779902e-05,
+            -0.022523099556565285,
+            -2.9803152084350586,
+            -0.8247650265693665,
+            -0.2958803176879883,
+            -0.030043907463550568,
+            -0.006125580985099077,
+            -0.054990239441394806,
+            -12.00240421295166,
+            -4.741040229797363,
+            -0.6456867456436157,
+            -0.4344860315322876,
+            -0.035417262464761734,
+            -0.22569671273231506,
+            -13.76695728302002,
+            -3.3918497562408447,
+            -0.3103185296058655,
+            -0.37411728501319885,
+            -0.08692958950996399,
+            -0.2035527527332306,
+            -4.333836555480957,
+            -0.3414791226387024,
+            -0.8835896849632263,
+            -0.012828109785914421,
+            -0.005806853994727135,
+            -0.08671131730079651,
+            -0.02521400712430477,
+            -5.887584120500833e-05,
+            -0.00013278896221891046,
+            -0.005779946688562632,
+            -0.00011076885130023584,
+            -0.0005224273772910237,
+            -0.7344600558280945,
+            -4.517676279647276e-05,
+            -0.00010231302439933643,
+            -0.003587735118344426,
+            -0.0015641979407519102,
+            -0.011428462341427803
+        ],
+        "max": [
+            0.038709405809640884,
+            0.05769714340567589,
+            0.16822832822799683,
+            1.8785011661748285e-06,
+            0.0005172311211936176,
+            0.0005407770513556898,
+            0.02952456846833229,
+            4.90231990814209,
+            0.3156880736351013,
+            0.035598378628492355,
+            0.0177939273416996,
+            0.0007828348316252232,
+            0.0177267137914896,
+            0.03433122858405113,
+            0.10306428372859955,
+            2.1478172129718587e-06,
+            0.00038244115421548486,
+            0.00024432537611573935,
+            0.02129300870001316,
+            0.4683896601200104,
+            0.10776369273662567,
+            0.0010939021594822407,
+            0.00345178646966815,
+            0.0002633050607983023,
+            0.023608636111021042,
+            2.5452842712402344,
+            1.4398679733276367,
+            0.00707247294485569,
+            0.0008156531257554889,
+            0.0003281493845861405,
+            12.306044578552246,
+            27.537321090698242,
+            27.906892776489258,
+            0.015080273151397705,
+            0.07418157905340195,
+            0.22613203525543213,
+            32.54154968261719,
+            26.55984115600586,
+            23.225069046020508,
+            0.00955547671765089,
+            0.03167777881026268,
+            0.5552542209625244,
+            0.07137105613946915,
+            1.2932493686676025,
+            0.8675666451454163,
+            0.016161205247044563,
+            0.003906544763594866,
+            0.001038593822158873,
+            0.3825901746749878,
+            0.12442466616630554,
+            0.35471704602241516,
+            2.4037601633608574e-06,
+            0.001879742369055748,
+            0.005756898783147335,
+            0.16469697654247284,
+            0.08789752423763275,
+            0.2161804437637329,
+            1.866485604296031e-06,
+            0.0017632187809795141,
+            0.0027286845725029707
+        ],
+        "mean": [
+            -0.000734493164531344,
+            0.0025645465583554483,
+            0.007617028892827205,
+            -0.00012339806996475687,
+            7.823260326405416e-06,
+            -1.3572468338746777e-05,
+            -0.0003759235707673369,
+            0.0007281751146539029,
+            0.0012735654342191317,
+            -2.2953451493458622e-05,
+            7.242285056516137e-07,
+            -8.360801122348379e-06,
+            -0.00019638689772285366,
+            0.0011562294453159178,
+            0.003412372932093956,
+            -6.173273367022974e-05,
+            1.1888447914491586e-06,
+            -3.6100667074882573e-06,
+            -0.0013136426304555958,
+            0.002032584483879737,
+            0.005682071498620942,
+            -0.00010018653992857412,
+            1.0998984058877725e-05,
+            -2.4156998220999675e-05,
+            -0.010745634149515782,
+            0.004910546976797835,
+            0.0075050990259582446,
+            -0.00013808582262720068,
+            -9.285776633903113e-06,
+            -0.00020493853644097313,
+            1.6427532825592746,
+            2.50919310526789,
+            4.62622019303153,
+            -0.08193616785247365,
+            0.00886231265209554,
+            0.024857233037819632,
+            -1.6641969989288936,
+            1.078253989976616,
+            5.306514089210955,
+            -0.08598324820312679,
+            -0.0038508305381115696,
+            -0.02678966548879027,
+            -0.012049359076442728,
+            0.004394097531425828,
+            0.010217629740617329,
+            -0.00019056610953392962,
+            1.134307999071494e-05,
+            -0.00016804984912317136,
+            -0.0007631998119630348,
+            0.00376165347743922,
+            0.011059260053698578,
+            -0.0002231447645581846,
+            1.2020671193813341e-05,
+            -2.1754625823255084e-05,
+            -0.0011896321776048754,
+            0.0031408117149853516,
+            0.009018163496468072,
+            -0.00019138568985287808,
+            -9.229294395668966e-07,
+            -2.3316958732321595e-05
+        ],
+        "std": [
+            0.002353052005287572,
+            0.004122691542701285,
+            0.012079077907989549,
+            0.00021031840578545147,
+            4.050100670330018e-05,
+            3.798963156738227e-05,
+            0.04471538377849201,
+            0.031396248746702146,
+            0.011118211065988468,
+            0.0002881273524544331,
+            8.775994553838439e-05,
+            0.0008874637073441182,
+            0.001320369018325245,
+            0.002594860929120807,
+            0.007580008519204307,
+            0.000146989467034954,
+            1.6251008609756565e-05,
+            2.6099596552659903e-05,
+            0.02518112660916967,
+            0.006213221409615771,
+            0.01113606907846444,
+            0.00021258788477480553,
+            5.7854197161250026e-05,
+            0.0003171051402935346,
+            0.1290556108132932,
+            0.06354733874885085,
+            0.04945387804970334,
+            0.001030262990189509,
+            0.000224497140438194,
+            0.002410148988790552,
+            2.146920308635566,
+            2.684895849001521,
+            4.784022281784289,
+            0.08477834417571485,
+            0.013036304576155039,
+            0.03525141472347219,
+            1.9941579207663296,
+            1.7093623105809481,
+            5.431483803844383,
+            0.08744214095419985,
+            0.008126591359344168,
+            0.0331812455099572,
+            0.12138495832652664,
+            0.022686414146468884,
+            0.029413513807386382,
+            0.0004718161847196707,
+            0.00018651816655443335,
+            0.0016831219144679082,
+            0.00533552310807109,
+            0.005146029296807083,
+            0.015043049825491183,
+            0.0003195111288645547,
+            3.894072151366401e-05,
+            8.532950625435221e-05,
+            0.008922234859689293,
+            0.004056442729143053,
+            0.011427453546848206,
+            0.0002448775390302068,
+            2.6084718024641016e-05,
+            0.00012921196253769403
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            -0.0065540105797505434,
+            -4.062059821357954e-05,
+            -8.924340892695355e-05,
+            -0.0008292648242573426,
+            -4.141126256319495e-05,
+            -0.00012169815978093661,
+            -0.005611638841669126,
+            -4.7831147894914445e-05,
+            -0.00011366208727944302,
+            -0.0004361526733556454,
+            -6.853118458453116e-06,
+            -0.00012756257694989496,
+            -0.004783785634667893,
+            -4.6938757530006426e-05,
+            -0.00010405672373154005,
+            -0.0006019573883637669,
+            -2.130193877135668e-05,
+            -9.613775814659938e-05,
+            -0.027263924972284064,
+            -3.4795897082967936e-05,
+            -7.62195522163181e-05,
+            -0.0008240857487697464,
+            -9.648679772050745e-06,
+            -0.00043634942346844466,
+            -0.15194587026493056,
+            -0.005790155646386623,
+            -0.004777811136388694,
+            -0.0019056547966742998,
+            -0.0003096499102940756,
+            -0.002697163448231932,
+            -1.0580156104825327,
+            -0.06227141741093316,
+            -2.4005317564413068e-05,
+            -0.22082037578140415,
+            -0.006559386668750705,
+            -0.03090516648765428,
+            -5.6892480065328135,
+            -0.3018819859903725,
+            -0.00015031072995248443,
+            -0.23124421693518624,
+            -0.02582933655315006,
+            -0.09355452288409138,
+            -0.20872762637503367,
+            -5.937594530956302e-05,
+            -0.00010567118420994107,
+            -0.0014136847777293565,
+            -0.000269247173330127,
+            -0.002811802018780454,
+            -0.007129843530883218,
+            -5.5537595040093276e-05,
+            -0.00012504951728949633,
+            -0.0010408379635656244,
+            -2.416122611506469e-05,
+            -0.00015859805875525132,
+            -0.004977881030137918,
+            -4.193862817050737e-05,
+            -9.365684303624164e-05,
+            -0.000811462367423807,
+            -4.0087747101402726e-05,
+            -0.00010227723944367639
+        ],
+        "q10": [
+            -0.0027466362979206515,
+            1.3488637342140156e-05,
+            6.999017552257568e-05,
+            -0.0003543118377526856,
+            -1.600290156544495e-05,
+            -5.03784986307119e-05,
+            -0.00034045773927675685,
+            -4.702474311158839e-05,
+            -0.00011136031637003974,
+            -6.525298085821372e-05,
+            -2.2080778079900677e-06,
+            -7.435702295426543e-06,
+            -0.0013855457363971826,
+            -4.667036376513775e-05,
+            -0.00010405672373154005,
+            -0.00019600292991719674,
+            -4.996165470442614e-06,
+            -2.608467873352675e-05,
+            -0.0032009237463848004,
+            -3.43928739344775e-05,
+            -7.568392831412797e-05,
+            -0.0003201232487103807,
+            -2.5206491705739626e-06,
+            -6.777724322048937e-05,
+            -0.04362138758356918,
+            -4.47964206641659e-05,
+            -0.00010238692637347311,
+            -0.0003327406849610914,
+            -5.4256694545892686e-05,
+            -0.0008484978941120846,
+            -0.0013541496238046267,
+            0.03538150730881052,
+            0.10137246972842374,
+            -0.18578890013471397,
+            -0.0010987480824487523,
+            -0.0013743522240641606,
+            -4.188676027389298,
+            -0.023567879597244764,
+            0.033497747497393794,
+            -0.1910091586897122,
+            -0.014654308359247862,
+            -0.06922831804373077,
+            -0.024530318712764194,
+            -3.1512009283967827e-05,
+            -5.453278439454373e-05,
+            -0.0005045287372651948,
+            -4.615896043003723e-06,
+            -0.00033584817251235344,
+            -0.0030644024395005535,
+            3.626334848624574e-05,
+            0.00013700499537340057,
+            -0.0005830102767271521,
+            -6.518857315212358e-06,
+            -7.176678857069484e-05,
+            -0.0025688718842963617,
+            1.2725815622915936e-05,
+            5.892892008047801e-05,
+            -0.000471109064429464,
+            -1.769630450113724e-05,
+            -5.301002872665914e-05
+        ],
+        "q50": [
+            -0.00024129147291781402,
+            0.001041880936843963,
+            0.003176929484622336,
+            -4.644665679938839e-05,
+            -1.8307021329005938e-06,
+            -3.193875516889802e-06,
+            0.00024283778545288422,
+            2.7546531947532098e-05,
+            0.00011651784440844651,
+            -2.0797504445836084e-06,
+            -1.4232113219130948e-06,
+            4.639043396844064e-06,
+            0.00022673519208592046,
+            0.00016003431927729908,
+            0.0004924491562293909,
+            -7.773782088957153e-06,
+            -1.7158172284628882e-06,
+            5.0939944989298685e-06,
+            3.678553282245868e-05,
+            0.0005005601026335046,
+            0.001468892083205379,
+            -2.1960310541763175e-05,
+            1.5153158807820021e-06,
+            3.2427773147886596e-07,
+            0.00016031254915058418,
+            0.0005772578791113093,
+            0.0016685210714791595,
+            -2.6862201551818053e-05,
+            2.6534557863656e-06,
+            2.3829045098695753e-06,
+            0.6974059279672956,
+            2.071507980439468,
+            4.271798917440817,
+            -0.07270763662016048,
+            0.0030769663875880927,
+            0.0076874496583836825,
+            -1.1223413313835806,
+            0.33490384244778937,
+            4.85067795004647,
+            -0.08155584180550302,
+            -0.0006458775311083691,
+            -0.017163580498977295,
+            -4.5821083479358646e-05,
+            0.0013699208988298772,
+            0.004090585894603659,
+            -7.954722092105843e-05,
+            5.763589155770322e-06,
+            -4.841785345578684e-06,
+            -0.00034225455881067477,
+            0.002339038130659652,
+            0.006898951301863656,
+            -0.00013485609736368912,
+            3.6331912864044978e-06,
+            -1.214141299024563e-05,
+            -0.0005633917848501195,
+            0.002176915924590552,
+            0.006250662442201043,
+            -0.00013260906529954496,
+            -2.384646997745038e-06,
+            -1.2759101908468832e-05
+        ],
+        "q90": [
+            0.0003624513958255232,
+            0.007394343531970264,
+            0.02181301467449576,
+            -6.155193281911736e-07,
+            4.470293508600384e-05,
+            6.278516300332079e-06,
+            0.00033505960574292437,
+            0.0012566073164328243,
+            0.0037191664295037883,
+            1.806774547590117e-06,
+            3.831657904443568e-06,
+            6.436787658202478e-06,
+            0.00035598263338248255,
+            0.003774492305708231,
+            0.011027925309255194,
+            1.8527090696003846e-06,
+            9.214895393801708e-06,
+            7.465399985824041e-06,
+            0.00033523705780947856,
+            0.006221793481481381,
+            0.018097204650566384,
+            1.3015020226484015e-06,
+            3.4944873416009984e-05,
+            5.4768970449511976e-06,
+            0.00039189833461675776,
+            0.007119023548364009,
+            0.018353281987574088,
+            1.810415420850862e-06,
+            2.877163214167826e-05,
+            7.515221618882633e-06,
+            4.597390955382633,
+            5.874276866574046,
+            10.300321522580237,
+            -0.0017956792946160036,
+            0.026381374345815445,
+            0.07353597711706726,
+            -0.004948084509887371,
+            3.032383792964535,
+            11.858342864824833,
+            -0.00047083380334714405,
+            0.0016477096471011845,
+            -2.2172593410501893e-05,
+            0.0007510521477018352,
+            0.010298593907643363,
+            0.02631572505303568,
+            8.625304808363989e-07,
+            5.172377347627402e-05,
+            9.948325458306662e-06,
+            0.00042242915955229465,
+            0.009653091126504958,
+            0.028274530882330166,
+            -2.550073133300237e-06,
+            4.094066000141585e-05,
+            7.687769770967986e-06,
+            0.00030222434262537596,
+            0.007656588586674312,
+            0.02208741318449829,
+            -1.288728145400979e-06,
+            1.739686269683128e-05,
+            5.978742629859659e-06
+        ],
+        "q99": [
+            0.0027766508193367992,
+            0.01544264145248903,
+            0.04506106758895077,
+            1.6697377972362755e-06,
+            0.00015266313335897288,
+            3.185444064239187e-05,
+            0.00039438342545960114,
+            0.007828450147345067,
+            0.021017776968480152,
+            1.896562341947273e-06,
+            2.5300018683492255e-05,
+            6.839951590626448e-06,
+            0.0008525624391455777,
+            0.010422860313194122,
+            0.030621321449018003,
+            1.936201692116675e-06,
+            6.337541686549225e-05,
+            9.913580326587139e-06,
+            0.0012303579215684833,
+            0.015367086674264853,
+            0.043060553992968424,
+            1.4046931626626564e-06,
+            0.00014587686879558633,
+            1.1541006810710531e-05,
+            0.0013549414835596133,
+            0.10732944227374912,
+            0.09601102742518604,
+            0.0001232619614293552,
+            8.752920537605352e-05,
+            1.4903719621980669e-05,
+            5.9615439095612155,
+            8.09333322135458,
+            12.2185254734959,
+            -1.2800976724232061e-05,
+            0.03746381919098111,
+            0.09879038293777133,
+            0.9793390981913849,
+            7.085749176725246,
+            14.020676803260297,
+            -5.373930335639967e-06,
+            0.01123800950932846,
+            0.018220667099715013,
+            0.003908529427485633,
+            0.04881999964398782,
+            0.08355948298254894,
+            1.9606385715475875e-06,
+            0.0002581800432221689,
+            4.418192097134598e-05,
+            0.0008707829597000074,
+            0.0167981306852712,
+            0.049003756703792624,
+            2.2338205945163437e-06,
+            9.847905215908282e-05,
+            9.20252720402144e-06,
+            0.00044888446040150054,
+            0.013304491919199767,
+            0.038013786504513924,
+            1.6986863546707224e-06,
+            5.424173778087412e-05,
+            7.187299652249682e-06
+        ]
+    },
+    "observation.images.tactile_raw": {
+        "min": [
+            [
+                [
+                    0.058823529411764705
+                ]
+            ],
+            [
+                [
+                    0.058823529411764705
+                ]
+            ],
+            [
+                [
+                    0.058823529411764705
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.490148942476436
+                ]
+            ],
+            [
+                [
+                    0.490148942476436
+                ]
+            ],
+            [
+                [
+                    0.490148942476436
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.00048693482896257963
+                ]
+            ],
+            [
+                [
+                    0.00048693482896257963
+                ]
+            ],
+            [
+                [
+                    0.00048693482896257963
+                ]
+            ]
+        ],
+        "count": [
+            605207040
+        ],
+        "q01": [
+            [
+                [
+                    0.1333420583051863
+                ]
+            ],
+            [
+                [
+                    0.1333420583051863
+                ]
+            ],
+            [
+                [
+                    0.1333420583051863
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.2117464757775956
+                ]
+            ],
+            [
+                [
+                    0.2117464757775956
+                ]
+            ],
+            [
+                [
+                    0.2117464757775956
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.4670825775061065
+                ]
+            ],
+            [
+                [
+                    0.4670825775061065
+                ]
+            ],
+            [
+                [
+                    0.4670825775061065
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8090629870352007
+                ]
+            ],
+            [
+                [
+                    0.8090629870352007
+                ]
+            ],
+            [
+                [
+                    0.8090629870352007
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9881770332260974
+                ]
+            ],
+            [
+                [
+                    0.9881770332260974
+                ]
+            ],
+            [
+                [
+                    0.9881770332260974
+                ]
+            ]
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            33
+        ],
+        "mean": [
+            16.094920244153144
+        ],
+        "std": [
+            9.95392351462205
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            16.094920244153144
+        ],
+        "q10": [
+            16.094920244153144
+        ],
+        "q50": [
+            16.09492024415316
+        ],
+        "q90": [
+            16.094920244153176
+        ],
+        "q99": [
+            16.09492024415318
+        ]
+    },
+    "action.tcp_pose": {
+        "min": [
+            0.34674081206321716,
+            0.16945111751556396,
+            0.9074872732162476,
+            -1.486354947090149,
+            1.2178406715393066,
+            -1.8943774700164795,
+            0.2209402620792389,
+            -0.3086378872394562,
+            0.922733724117279,
+            -0.9027200937271118,
+            1.1334338188171387,
+            0.2098304182291031
+        ],
+        "max": [
+            0.4528461992740631,
+            0.2634487748146057,
+            1.0873724222183228,
+            -0.7703598141670227,
+            2.248210906982422,
+            -1.1640303134918213,
+            0.483476459980011,
+            -0.02693026326596737,
+            1.1699984073638916,
+            1.2915847301483154,
+            2.1596381664276123,
+            1.7085669040679932
+        ],
+        "mean": [
+            0.40378353234314823,
+            0.20892750725603745,
+            0.986720579839979,
+            -1.2151223518986896,
+            1.7748400533828463,
+            -1.5860340445256134,
+            0.39469687991946567,
+            -0.1457104041701399,
+            1.0517167740345712,
+            -0.21192286796352094,
+            1.7323647775291564,
+            0.7068428655019434
+        ],
+        "std": [
+            0.0184091579738556,
+            0.016182472047403525,
+            0.03208564719678822,
+            0.10057495271933051,
+            0.18734669852293923,
+            0.0949842104826095,
+            0.05419101783027213,
+            0.05587792372145573,
+            0.04848161462897468,
+            0.3363238957516827,
+            0.14861617791057058,
+            0.19957636545913243
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            0.3715785076647715,
+            0.19082822853051704,
+            0.9456864345594246,
+            -1.3085345794428274,
+            1.2880210324944696,
+            -1.6874757175733703,
+            0.25972686784417315,
+            -0.2597118588482396,
+            0.9603328242193601,
+            -0.6789976508132344,
+            1.260924496142339,
+            0.44961355682461196
+        ],
+        "q10": [
+            0.39037732783842954,
+            0.19962647689702193,
+            0.9543683723949417,
+            -1.285478476356703,
+            1.5660964696102544,
+            -1.6488487465362416,
+            0.3112339446258564,
+            -0.22336645508331535,
+            0.980217564606519,
+            -0.48880295723697603,
+            1.567417170759984,
+            0.536011579129886
+        ],
+        "q50": [
+            0.4045937227672812,
+            0.20851758836925582,
+            0.9810929004321229,
+            -1.2251161052273998,
+            1.8126012364325215,
+            -1.5895551023401358,
+            0.412841677777717,
+            -0.14287504488565841,
+            1.0664074797379224,
+            -0.27102076064661806,
+            1.7497558962187356,
+            0.6634391313941378
+        ],
+        "q90": [
+            0.4165043443956087,
+            0.21886577144884076,
+            1.030965441993522,
+            -1.1283380499708398,
+            1.921823698264505,
+            -1.5382504995934063,
+            0.4480470061408704,
+            -0.071367029682005,
+            1.1050225952718784,
+            0.06790203083621288,
+            1.8892830526892903,
+            0.8959795013096766
+        ],
+        "q99": [
+            0.41957970354325475,
+            0.2294399622572369,
+            1.0533281019337284,
+            -1.0055536563429313,
+            1.970794000649917,
+            -1.309462960615313,
+            0.4582956358532739,
+            -0.05000162768803847,
+            1.1346719387553466,
+            1.1638731822264514,
+            1.9870414891459847,
+            1.5082003878471706
+        ]
+    },
+    "observation.images.tactile_deform": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8588235294117647
+                ]
+            ],
+            [
+                [
+                    0.8588235294117647
+                ]
+            ],
+            [
+                [
+                    0.8588235294117647
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.003580599679125936
+                ]
+            ],
+            [
+                [
+                    0.003580599679125936
+                ]
+            ],
+            [
+                [
+                    0.003580599679125936
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.002441084017537574
+                ]
+            ],
+            [
+                [
+                    0.002441084017537574
+                ]
+            ],
+            [
+                [
+                    0.002441084017537574
+                ]
+            ]
+        ],
+        "count": [
+            709227000
+        ],
+        "q01": [
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ],
+            [
+                [
+                    -6.568943204859578e-11
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.08388095624004145
+                ]
+            ],
+            [
+                [
+                    0.08388095624004145
+                ]
+            ],
+            [
+                [
+                    0.08388095624004145
+                ]
+            ]
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            111.23333333333333
+        ],
+        "mean": [
+            39.514943593518026
+        ],
+        "std": [
+            24.00455045528758
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            0.773745576686259
+        ],
+        "q10": [
+            7.8890532340184985
+        ],
+        "q50": [
+            39.5113291946584
+        ],
+        "q90": [
+            71.13794899347707
+        ],
+        "q99": [
+            78.25614161034977
+        ]
+    },
+    "action": {
+        "min": [
+            0.9719286561012268,
+            -0.8540766835212708,
+            -0.22511646151542664,
+            0.8267079591751099,
+            -0.15052394568920135,
+            -0.7699999809265137,
+            0.055270399898290634,
+            0.0,
+            0.0,
+            -0.33293765783309937,
+            0.0,
+            0.0,
+            0.0,
+            -0.16089512407779694,
+            0.0,
+            0.0,
+            0.0,
+            -0.1899682730436325,
+            0.0,
+            0.0,
+            0.0,
+            -0.20329636335372925,
+            0.0,
+            0.0,
+            -9.90738513451106e-09,
+            0.0,
+            -0.17949406802654266,
+            0.0,
+            0.0,
+            0.8811529278755188,
+            -1.1782951354980469,
+            -0.2436152845621109,
+            0.9316698908805847,
+            -1.9650193452835083,
+            -0.8865386843681335,
+            -0.5131103992462158,
+            0.0,
+            -0.2584505081176758,
+            -0.3114212155342102,
+            -0.28333112597465515,
+            0.0,
+            0.0,
+            -0.20313334465026855,
+            0.0,
+            0.0,
+            0.0,
+            -0.16273260116577148,
+            0.0,
+            0.0,
+            0.0,
+            -0.16711457073688507,
+            0.0,
+            0.0,
+            -9.271030165791672e-09,
+            -0.002172983018681407,
+            -0.18703272938728333,
+            0.0,
+            0.0,
+            0.5624918341636658,
+            -1.1069588661193848,
+            0.543892502784729,
+            -0.00123838079161942,
+            -0.0001746493362588808,
+            -0.033056676387786865,
+            -0.8696511387825012
+        ],
+        "max": [
+            1.310768723487854,
+            -0.462962806224823,
+            0.0,
+            1.5700000524520874,
+            0.37512388825416565,
+            0.46891412138938904,
+            0.8853617310523987,
+            1.4835422039031982,
+            0.29574307799339294,
+            0.09619040787220001,
+            0.2850245237350464,
+            0.7379821538925171,
+            0.9250506162643433,
+            0.17958761751651764,
+            0.15931124985218048,
+            0.06093663349747658,
+            0.9026674032211304,
+            0.27513816952705383,
+            0.11842317134141922,
+            0.05941710248589516,
+            0.8183051943778992,
+            0.28227654099464417,
+            0.1268698275089264,
+            0.06178071349859238,
+            0.26180002093315125,
+            0.8015467524528503,
+            0.28886714577674866,
+            0.32531771063804626,
+            0.10769844055175781,
+            1.5322113037109375,
+            -0.25430038571357727,
+            0.0,
+            1.9741915464401245,
+            0.23284101486206055,
+            0.12562641501426697,
+            0.8668055534362793,
+            1.49240243434906,
+            0.302231103181839,
+            0.5066192150115967,
+            0.30338698625564575,
+            0.99549400806427,
+            1.2450722455978394,
+            0.2415226250886917,
+            0.9978001713752747,
+            0.853333055973053,
+            1.5166651010513306,
+            0.29165253043174744,
+            1.5423518419265747,
+            1.188258409500122,
+            1.495121717453003,
+            0.30680227279663086,
+            1.588550090789795,
+            1.393364429473877,
+            0.26180002093315125,
+            1.4960306882858276,
+            0.3027614653110504,
+            1.5403012037277222,
+            1.5261240005493164,
+            0.5626999735832214,
+            -1.106863021850586,
+            0.5444080233573914,
+            0.0005654977867379785,
+            0.00022749498020857573,
+            0.17801842093467712,
+            -0.4829341471195221
+        ],
+        "mean": [
+            1.144722001986106,
+            -0.6409429136810271,
+            -0.2213050378484505,
+            1.127983583100969,
+            0.06856212605036938,
+            0.09296239050153411,
+            0.3319538328343037,
+            1.3196750126769907,
+            0.2812902589556079,
+            -0.1326222854836348,
+            0.18521300648327,
+            0.563109292384415,
+            0.3989986095860599,
+            0.11346300589151526,
+            0.03960496527857894,
+            0.036214398370369244,
+            0.2595247047251096,
+            0.18595221038155316,
+            0.040788318810370955,
+            0.031126388998448138,
+            0.06886331186334169,
+            0.195171433623372,
+            0.012828532326841283,
+            0.010786357747774268,
+            0.1687419818754021,
+            0.06010078864857486,
+            0.22078577498803428,
+            0.014855280476958497,
+            0.010424715960260608,
+            1.2569984307517912,
+            -0.6210671389453741,
+            -0.2279976484042328,
+            1.3220839905768782,
+            -1.3187519025208403,
+            -0.3149479411045761,
+            -0.015829270749378645,
+            1.2551372374256664,
+            0.06207794453194488,
+            0.03311268922324777,
+            -0.044141172785410736,
+            0.18054983292067184,
+            0.870387678787587,
+            0.05855337391102193,
+            0.20739230305304754,
+            0.2570362551753754,
+            1.1912161503679468,
+            -0.045309331408554074,
+            1.1916228408548926,
+            0.49801171292868757,
+            1.3143584822288672,
+            -0.09850880418061157,
+            1.313002221896219,
+            0.6835514382636936,
+            0.0409560183079057,
+            1.2595516556693735,
+            -0.11665530388914414,
+            1.0088032812858487,
+            1.331542225804875,
+            0.5626960762050564,
+            -1.1068593301565883,
+            0.5441531830735099,
+            -0.00037425794239166234,
+            -4.6640900272239775e-07,
+            0.06492684676500281,
+            -0.7052247634321648
+        ],
+        "std": [
+            0.058818900521586406,
+            0.06264119456401408,
+            0.0209064156069036,
+            0.11069769294414541,
+            0.07671894772401325,
+            0.18871154093602235,
+            0.12394880945130786,
+            0.16313087469395732,
+            0.03793109834316184,
+            0.07760249231085499,
+            0.05393705713178234,
+            0.12192167625316058,
+            0.14119261263615612,
+            0.03242325894580888,
+            0.020178002138906515,
+            0.009294974863031791,
+            0.16631278984583261,
+            0.048678946671473045,
+            0.016964247360664514,
+            0.01269392428882449,
+            0.11058496723282359,
+            0.053345284956510426,
+            0.017871334057022254,
+            0.011505716462566883,
+            0.09661369431643053,
+            0.12027315097831648,
+            0.051337744040869444,
+            0.0327999073944557,
+            0.015305386580642422,
+            0.11405427253832158,
+            0.164933740106987,
+            0.023911761792993633,
+            0.18097243810761707,
+            0.34085603539198855,
+            0.14847770558285805,
+            0.19570460634904616,
+            0.17533769552908782,
+            0.09311073958152308,
+            0.1355909566726773,
+            0.09448105059742562,
+            0.14488523221556587,
+            0.2187957783242276,
+            0.03812674779405585,
+            0.15562460727630917,
+            0.16106600444765992,
+            0.23238446894137216,
+            0.03829279028879017,
+            0.2746809962964857,
+            0.2866027662060474,
+            0.26351964198667993,
+            0.050375265517562634,
+            0.2921365862122125,
+            0.283572463163316,
+            0.03148245330368463,
+            0.2562343837894743,
+            0.05769486978761542,
+            0.29185634599462934,
+            0.29022474646510565,
+            6.922791078098109e-06,
+            0.0018736278333778896,
+            0.0014980181797670832,
+            0.0003241085634755016,
+            1.0548712975642651e-05,
+            0.03130949958788368,
+            0.042480427690965036
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            1.0587624976659717,
+            -0.763520399172194,
+            -0.22416439590564002,
+            1.0379960651258526,
+            -0.0432475354050763,
+            -0.5865533907808151,
+            0.1988568859593507,
+            0.1301484449818024,
+            0.009917995208000366,
+            -0.22543643605475172,
+            0.006049638312536651,
+            0.018981753966977488,
+            0.009427846425842082,
+            -0.004723021981158288,
+            0.000992314382284194,
+            0.0010047680483849257,
+            0.00013320005774150584,
+            -0.004849942974899416,
+            3.070684837596005e-05,
+            3.0942177790657464e-05,
+            -9.451287857089717e-11,
+            -0.005946953559645623,
+            -9.451287857089717e-11,
+            -9.451287857089717e-11,
+            0.004394514763874108,
+            -8.297139347820116e-11,
+            -0.006026673721113087,
+            -8.297139347820116e-11,
+            -8.297139347820116e-11,
+            1.002655291898654,
+            -1.0464018970635234,
+            -0.24264514334472836,
+            1.0619023532986425,
+            -1.7023489163520311,
+            -0.6767686876755609,
+            -0.30092679473926176,
+            0.03245421888605112,
+            -0.10761090176159074,
+            -0.21966009143978785,
+            -0.1697320117017724,
+            0.0019373639279127183,
+            0.006768429681886025,
+            -0.04498418325681344,
+            0.0010523837738541412,
+            0.0010324589727614898,
+            0.0001639318857823156,
+            -0.08648237281519018,
+            6.38824697389906e-05,
+            6.114311073790269e-05,
+            -1.000000013351432e-10,
+            -0.13462826286089283,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -2.020345314534565e-09,
+            -4.170286041334382e-06,
+            -0.15479531884712436,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.5626833444051457,
+            -1.106892662181847,
+            0.5441065117038214,
+            -0.0006516162405964125,
+            -3.167713801985306e-05,
+            0.0005585757579449546,
+            -0.7563307283892227
+        ],
+        "q10": [
+            1.0769936830773934,
+            -0.6855691086354099,
+            -0.22411133894745575,
+            1.0540188727832223,
+            0.032694976022578134,
+            -0.08525306055721177,
+            0.23445533569104515,
+            1.3111817119204905,
+            0.2774757987578661,
+            -0.1841810017811997,
+            0.15637932083593375,
+            0.5561327929961737,
+            0.38195941442919173,
+            0.10612258064813221,
+            0.03884668774828286,
+            0.03541219383008119,
+            0.20537462585250077,
+            0.16505047803223863,
+            0.03411303626519774,
+            0.02655788040167164,
+            0.037791714693191585,
+            0.16613300821355675,
+            0.007850893191261114,
+            0.007050746489523661,
+            0.13664662408488573,
+            0.03367129529949502,
+            0.19972532609535165,
+            0.008445960248976266,
+            0.00630227901954556,
+            1.0987197603335994,
+            -0.8518588267392088,
+            -0.24149645284535745,
+            1.1319820272524084,
+            -1.607430561351748,
+            -0.4798131593902496,
+            -0.18745761216212808,
+            1.1741298374005535,
+            -0.03646623943277095,
+            -0.11699832769728005,
+            -0.12916755695613458,
+            0.05261800169963833,
+            0.6599505124225945,
+            0.029683976161101997,
+            0.07693708054894975,
+            0.07263138495765982,
+            1.1829866661966955,
+            -0.06767438085218899,
+            1.1548245985223404,
+            0.41490077239973266,
+            1.3112947996999902,
+            -0.12287540729310575,
+            1.2860515588561534,
+            0.520109029822295,
+            0.025387601553245535,
+            1.245828654898859,
+            -0.1430318355123475,
+            0.8144674566818868,
+            1.3462841959545813,
+            0.5626833498465773,
+            -1.106863021850586,
+            0.5441324956461945,
+            -0.0005695532397372096,
+            -6.757035792167688e-06,
+            0.03945860175182814,
+            -0.7363954758837802
+        ],
+        "q50": [
+            1.1416240597168124,
+            -0.6333439464888535,
+            -0.22400396157869146,
+            1.1057495123952032,
+            0.07556664971943665,
+            0.1417951116988593,
+            0.307671820453988,
+            1.3361478729608716,
+            0.28798616556220014,
+            -0.1262832312072219,
+            0.18820216467244696,
+            0.5710187252997105,
+            0.4032309285398661,
+            0.11726305617969954,
+            0.0400204640933179,
+            0.036689562686673255,
+            0.26257578290868056,
+            0.1944443450171687,
+            0.04181261407118796,
+            0.031866020607443306,
+            0.06916360792231724,
+            0.2058430081533326,
+            0.013180125928690953,
+            0.01094313023987925,
+            0.17724581986816093,
+            0.060648177617651094,
+            0.23086022667000633,
+            0.01508238239855526,
+            0.010403912671445154,
+            1.2943831168053728,
+            -0.6030959842389948,
+            -0.23179631817675342,
+            1.2676432332872987,
+            -1.3826936305601356,
+            -0.30714441962106076,
+            -0.05009240921556828,
+            1.292024270303168,
+            0.06468940946561191,
+            0.03580353909659144,
+            -0.05924744467977044,
+            0.15056074167237876,
+            0.8992428263665223,
+            0.05869129722503835,
+            0.18584502082049884,
+            0.26526617082736875,
+            1.236256843418327,
+            -0.05018478666872922,
+            1.2469326141028423,
+            0.5148784295151515,
+            1.371806980265261,
+            -0.10776714448513143,
+            1.3675533375278193,
+            0.6898222696194768,
+            0.038689276743949,
+            1.3146091644775222,
+            -0.1276379041541419,
+            1.047421138816593,
+            1.397434001157405,
+            0.562683374030718,
+            -1.106863021850586,
+            0.5441504689192203,
+            -0.00041321703974079617,
+            -1.5488954876439213e-07,
+            0.06914959295002387,
+            -0.7128198708386319
+        ],
+        "q90": [
+            1.2196401120340725,
+            -0.6051971356980834,
+            -0.22355201790946122,
+            1.2331700128099672,
+            0.10081899658291607,
+            0.21728832640096513,
+            0.46649122703769336,
+            1.3663170400728142,
+            0.29148245455380484,
+            -0.09366730165732885,
+            0.21518009561395854,
+            0.5893498038930411,
+            0.4403153534532819,
+            0.12530568530095507,
+            0.042546074558054765,
+            0.0388544428915584,
+            0.32998701857716994,
+            0.21139199455972935,
+            0.04918201730415532,
+            0.03728053970686649,
+            0.09912503735754119,
+            0.22690601798795917,
+            0.017480982032294753,
+            0.014911316712796113,
+            0.1961917973490774,
+            0.08513520257603972,
+            0.24688192601022851,
+            0.019913667023286636,
+            0.014803339097940862,
+            1.3786262701229814,
+            -0.4107837591533381,
+            -0.2147538871794836,
+            1.5857081228579333,
+            -1.0317872663981198,
+            -0.15584298519072928,
+            0.16176924144538038,
+            1.3478288679188968,
+            0.15572512055394624,
+            0.17459928212136486,
+            0.05425424845137957,
+            0.3502620645022083,
+            1.08605328197305,
+            0.09244497272865161,
+            0.3936010768325927,
+            0.45856025778584764,
+            1.2781279596365394,
+            -0.025516738372797616,
+            1.3252556940511275,
+            0.614446671884797,
+            1.403575783494529,
+            -0.0839340537008342,
+            1.457071951835097,
+            0.9175012908089585,
+            0.051465431545362386,
+            1.355158468998985,
+            -0.10387280600721414,
+            1.2439200763423088,
+            1.4308972029459406,
+            0.5626833982148588,
+            -1.106863021850586,
+            0.5441782279291824,
+            -0.00013185386673142738,
+            6.189205874071898e-06,
+            0.08506280784907551,
+            -0.6614395101919192
+        ],
+        "q99": [
+            1.24284303560226,
+            -0.5934037847876887,
+            -0.08721423295636277,
+            1.4628969997362657,
+            0.1121412885574203,
+            0.2383888226197555,
+            0.6583342694126982,
+            1.376629446111037,
+            0.29199243374634093,
+            0.001550791627738652,
+            0.24338784766012436,
+            0.5938071023708786,
+            0.45603031898343904,
+            0.1280697847384553,
+            0.04352701145504299,
+            0.03967211502810843,
+            0.34472627975734876,
+            0.21539895449308216,
+            0.051152847549161454,
+            0.038240207585706676,
+            0.10762307930277468,
+            0.23255187142318223,
+            0.01827720385559898,
+            0.0156504490014519,
+            0.23864521107413197,
+            0.09366563261744348,
+            0.25109188362469165,
+            0.024476266858759383,
+            0.01633038426351663,
+            1.4352145937905123,
+            -0.3424841247113962,
+            -0.10076344550843142,
+            1.7355160481269876,
+            0.04014647534261546,
+            -0.06734874238696344,
+            0.6366982926485,
+            1.3868764015707287,
+            0.2506657966684546,
+            0.2783029774844892,
+            0.22466678171816112,
+            0.5399094606421289,
+            1.148017289018606,
+            0.11507683863978878,
+            0.536784811159442,
+            0.5408013046759019,
+            1.3183456474678643,
+            0.11467269882255904,
+            1.3700751990779148,
+            0.6979555208872095,
+            1.4287792665114645,
+            0.16458161194903595,
+            1.5011361366076508,
+            1.0101767637165846,
+            0.2087310577801973,
+            1.3926872565428634,
+            0.1995463921184824,
+            1.43653167938737,
+            1.4529394281517192,
+            0.5626931738146375,
+            -1.106863021850586,
+            0.5442233512505088,
+            0.0001977456242751301,
+            1.9456179058308255e-05,
+            0.09288590896859449,
+            -0.5957837323856204
+        ]
+    },
+    "observation.images.head_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5645369719718513
+                ]
+            ],
+            [
+                [
+                    0.5649018739360568
+                ]
+            ],
+            [
+                [
+                    0.5652366857172598
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.005008531882890435
+                ]
+            ],
+            [
+                [
+                    0.00507372453088656
+                ]
+            ],
+            [
+                [
+                    0.004995857187394131
+                ]
+            ]
+        ],
+        "count": [
+            2017356800
+        ],
+        "q01": [
+            [
+                [
+                    0.12433844209282217
+                ]
+            ],
+            [
+                [
+                    0.13046431294875405
+                ]
+            ],
+            [
+                [
+                    0.12350549747497105
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.21299143790789993
+                ]
+            ],
+            [
+                [
+                    0.21322988326415396
+                ]
+            ],
+            [
+                [
+                    0.2131115309464542
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.6749241665485115
+                ]
+            ],
+            [
+                [
+                    0.6744145179548755
+                ]
+            ],
+            [
+                [
+                    0.6754651078697198
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8973948444631449
+                ]
+            ],
+            [
+                [
+                    0.8971842357528166
+                ]
+            ],
+            [
+                [
+                    0.8987912167823972
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.992145301549062
+                ]
+            ],
+            [
+                [
+                    0.9921457916937453
+                ]
+            ],
+            [
+                [
+                    0.9921471451436937
+                ]
+            ]
+        ]
+    },
+    "observation.state.tcp": {
+        "min": [
+            0.3466481566429138,
+            0.16945888102054596,
+            0.9075177907943726,
+            -1.4861427545547485,
+            1.2176121473312378,
+            -1.886459469795227,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.22190159559249878,
+            -0.300686240196228,
+            0.9228135347366333,
+            -0.9027546644210815,
+            1.1578959226608276,
+            0.20999477803707123,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.4528290331363678,
+            0.2634623348712921,
+            1.0875433683395386,
+            -0.779313325881958,
+            2.2478017807006836,
+            -1.1620442867279053,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.4836627244949341,
+            -0.027059059590101242,
+            1.1695407629013062,
+            1.2750948667526245,
+            2.159564256668091,
+            1.7057945728302002,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.4037636632993618,
+            0.20891669538452737,
+            0.9866888236163263,
+            -1.2153734228731194,
+            1.7753273228855453,
+            -1.5858451824930204,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.39458889440546335,
+            -0.14551057822495286,
+            1.0511747922906174,
+            -0.21139001580939193,
+            1.7341113505916466,
+            0.7067093744182106,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.018411700054741936,
+            0.016174506566700542,
+            0.03205251710648617,
+            0.10010457700047327,
+            0.18677038399249823,
+            0.094922064538337,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.05422360877313193,
+            0.0556825176178717,
+            0.048310560086659335,
+            0.3371450080667941,
+            0.14673357715715615,
+            0.19850007182848844,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            0.3716817809349305,
+            0.19088067032892142,
+            0.9457178662637776,
+            -1.308806332262628,
+            1.2921113711889611,
+            -1.6867067452697595,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            0.25960755178224276,
+            -0.2578385768386701,
+            0.9603636247530425,
+            -0.6789975522698559,
+            1.2688035262927297,
+            0.44972576814951437,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16
+        ],
+        "q10": [
+            0.3903627028612881,
+            0.1996180215084666,
+            0.9543783488843122,
+            -1.2854645963554154,
+            1.566891542176021,
+            -1.6482299932293933,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            0.3109063631282429,
+            -0.2228863233041331,
+            0.9801942980527678,
+            -0.48867457500109174,
+            1.5718547398843272,
+            0.5359019432778861,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15,
+            3.999578446212127e-15
+        ],
+        "q50": [
+            0.40457786653356925,
+            0.20851427554413324,
+            0.9810527473871495,
+            -1.225180928256608,
+            1.8128206323925893,
+            -1.5894345395182743,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            0.41269543459124974,
+            -0.14265851261592527,
+            1.0656992777552283,
+            -0.27125424039432294,
+            1.7505399244638555,
+            0.6636455783570202,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            0.41649033407783037,
+            0.21884810802541504,
+            1.0308645125521658,
+            -1.1288782738952163,
+            1.9219613055644107,
+            -1.538121915024667,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            0.44801446125838246,
+            -0.07133639737884319,
+            1.104352905591345,
+            0.0706930862634639,
+            1.889270842985646,
+            0.8963918922292478,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14,
+            3.599620601590914e-14
+        ],
+        "q99": [
+            0.41955972336135006,
+            0.22929739095902685,
+            1.0530131936107212,
+            -1.0104203994473326,
+            1.9707996298627517,
+            -1.3087950840551428,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            0.45829153111312565,
+            -0.05002880256325853,
+            1.134087875090774,
+            1.1685864965756732,
+            1.9868804532535183,
+            1.4981686196058939,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14,
+            3.9595826617500037e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            78802
+        ],
+        "mean": [
+            39401.0
+        ],
+        "std": [
+            22748.46662964341
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            38238.76405949787
+        ],
+        "q10": [
+            38452.223289217334
+        ],
+        "q50": [
+            39400.93602817914
+        ],
+        "q90": [
+            40349.69016199646
+        ],
+        "q99": [
+            40563.23594050211
+        ]
+    },
+    "observation.state.tcp_pose": {
+        "min": [
+            0.3466481566429138,
+            0.16945888102054596,
+            0.9075177907943726,
+            -1.4861427545547485,
+            1.2176121473312378,
+            -1.886459469795227,
+            0.22190159559249878,
+            -0.300686240196228,
+            0.9228135347366333,
+            -0.9027546644210815,
+            1.1578959226608276,
+            0.20999477803707123
+        ],
+        "max": [
+            0.4528290331363678,
+            0.2634623348712921,
+            1.0875433683395386,
+            -0.779313325881958,
+            2.2478017807006836,
+            -1.1620442867279053,
+            0.4836627244949341,
+            -0.027059059590101242,
+            1.1695407629013062,
+            1.2750948667526245,
+            2.159564256668091,
+            1.7057945728302002
+        ],
+        "mean": [
+            0.4037636632993618,
+            0.20891669538452737,
+            0.9866888236163263,
+            -1.2153734228731194,
+            1.7753273228855453,
+            -1.5858451824930204,
+            0.39458889440546335,
+            -0.14551057822495286,
+            1.0511747922906174,
+            -0.21139001580939193,
+            1.7341113505916466,
+            0.7067093744182106
+        ],
+        "std": [
+            0.018411700054741936,
+            0.016174506566700542,
+            0.03205251710648617,
+            0.10010457700047327,
+            0.18677038399249823,
+            0.094922064538337,
+            0.05422360877313193,
+            0.0556825176178717,
+            0.048310560086659335,
+            0.3371450080667941,
+            0.14673357715715615,
+            0.19850007182848844
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            0.3716817809349305,
+            0.19088067032892142,
+            0.9457178662637776,
+            -1.308806332262628,
+            1.2921113711889611,
+            -1.6867067452697595,
+            0.25960755178224276,
+            -0.2578385768386701,
+            0.9603636247530425,
+            -0.6789975522698559,
+            1.2688035262927297,
+            0.44972576814951437
+        ],
+        "q10": [
+            0.3903627028612881,
+            0.1996180215084666,
+            0.9543783488843122,
+            -1.2854645963554154,
+            1.566891542176021,
+            -1.6482299932293933,
+            0.3109063631282429,
+            -0.2228863233041331,
+            0.9801942980527678,
+            -0.48867457500109174,
+            1.5718547398843272,
+            0.5359019432778861
+        ],
+        "q50": [
+            0.40457786653356925,
+            0.20851427554413324,
+            0.9810527473871495,
+            -1.225180928256608,
+            1.8128206323925893,
+            -1.5894345395182743,
+            0.41269543459124974,
+            -0.14265851261592527,
+            1.0656992777552283,
+            -0.27125424039432294,
+            1.7505399244638555,
+            0.6636455783570202
+        ],
+        "q90": [
+            0.41649033407783037,
+            0.21884810802541504,
+            1.0308645125521658,
+            -1.1288782738952163,
+            1.9219613055644107,
+            -1.538121915024667,
+            0.44801446125838246,
+            -0.07133639737884319,
+            1.104352905591345,
+            0.0706930862634639,
+            1.889270842985646,
+            0.8963918922292478
+        ],
+        "q99": [
+            0.41955972336135006,
+            0.22929739095902685,
+            1.0530131936107212,
+            -1.0104203994473326,
+            1.9707996298627517,
+            -1.3087950840551428,
+            0.45829153111312565,
+            -0.05002880256325853,
+            1.134087875090774,
+            1.1685864965756732,
+            1.9868804532535183,
+            1.4981686196058939
+        ]
+    },
+    "observation.images.wrist_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3046343298728082
+                ]
+            ],
+            [
+                [
+                    0.3072804507421616
+                ]
+            ],
+            [
+                [
+                    0.3049538297077931
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0011420795608689219
+                ]
+            ],
+            [
+                [
+                    0.001187760435082472
+                ]
+            ],
+            [
+                [
+                    0.0011114591398140373
+                ]
+            ]
+        ],
+        "count": [
+            2017356800
+        ],
+        "q01": [
+            [
+                [
+                    0.023491387672815073
+                ]
+            ],
+            [
+                [
+                    0.023512788229605022
+                ]
+            ],
+            [
+                [
+                    0.023443376253929647
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.09551124507988552
+                ]
+            ],
+            [
+                [
+                    0.09951772364125537
+                ]
+            ],
+            [
+                [
+                    0.09690398550649508
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.27347451888407875
+                ]
+            ],
+            [
+                [
+                    0.27438985667795435
+                ]
+            ],
+            [
+                [
+                    0.27542315211333424
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.5693811471905452
+                ]
+            ],
+            [
+                [
+                    0.5702172170829063
+                ]
+            ],
+            [
+                [
+                    0.5663233018452271
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8018672805554501
+                ]
+            ],
+            [
+                [
+                    0.8024253215216278
+                ]
+            ],
+            [
+                [
+                    0.7987579799736877
+                ]
+            ]
+        ]
+    },
+    "observation.images.head_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5657466730354738
+                ]
+            ],
+            [
+                [
+                    0.5658714893822315
+                ]
+            ],
+            [
+                [
+                    0.5658327601313389
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.004775904366169241
+                ]
+            ],
+            [
+                [
+                    0.004828478335925258
+                ]
+            ],
+            [
+                [
+                    0.004769768832374503
+                ]
+            ]
+        ],
+        "count": [
+            2017356800
+        ],
+        "q01": [
+            [
+                [
+                    0.1189617404447605
+                ]
+            ],
+            [
+                [
+                    0.12483618752741217
+                ]
+            ],
+            [
+                [
+                    0.11308300241241645
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.20685571227376617
+                ]
+            ],
+            [
+                [
+                    0.20615962589036124
+                ]
+            ],
+            [
+                [
+                    0.2060402534499555
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.674188934383013
+                ]
+            ],
+            [
+                [
+                    0.6736721267537362
+                ]
+            ],
+            [
+                [
+                    0.6746528371752364
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.9076859539912172
+                ]
+            ],
+            [
+                [
+                    0.9072203057695848
+                ]
+            ],
+            [
+                [
+                    0.909053566097384
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9921644697788351
+                ]
+            ],
+            [
+                [
+                    0.9921643059138742
+                ]
+            ],
+            [
+                [
+                    0.9921641827034039
+                ]
+            ]
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            3337
+        ],
+        "mean": [
+            1185.448307805541
+        ],
+        "std": [
+            720.1365136586275
+        ],
+        "count": [
+            78803
+        ],
+        "q01": [
+            23.21236730343102
+        ],
+        "q10": [
+            236.67159702287594
+        ],
+        "q50": [
+            1185.3750529472227
+        ],
+        "q90": [
+            2134.1384698019915
+        ],
+        "q99": [
+            2347.684248307649
+        ]
+    },
+    "observation.images.wrist_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.30908187398247744
+                ]
+            ],
+            [
+                [
+                    0.3120332069637446
+                ]
+            ],
+            [
+                [
+                    0.30870226847639165
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0005927701840897069
+                ]
+            ],
+            [
+                [
+                    0.0006302937366174749
+                ]
+            ],
+            [
+                [
+                    0.0004921544918973688
+                ]
+            ]
+        ],
+        "count": [
+            2017356800
+        ],
+        "q01": [
+            [
+                [
+                    0.02345963364924071
+                ]
+            ],
+            [
+                [
+                    0.02346701095555061
+                ]
+            ],
+            [
+                [
+                    0.023445320631785085
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.11229982997528326
+                ]
+            ],
+            [
+                [
+                    0.12084814669081467
+                ]
+            ],
+            [
+                [
+                    0.11851553524679077
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.2535955827292785
+                ]
+            ],
+            [
+                [
+                    0.2567814152493725
+                ]
+            ],
+            [
+                [
+                    0.25400717982098026
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6018884096650339
+                ]
+            ],
+            [
+                [
+                    0.6031935044100432
+                ]
+            ],
+            [
+                [
+                    0.5923384774332011
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7232325540848619
+                ]
+            ],
+            [
+                [
+                    0.7235002629952646
+                ]
+            ],
+            [
+                [
+                    0.7331804539005629
+                ]
+            ]
+        ]
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/subtasks.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/subtasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..16dc2852a508c1c4a3b9cd4ab28f734d00f382b9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/subtasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e5a73d8e88b2389fef6f5e4e420205a05759e5530c53a0471c1adcdb7e0ab6
+size 91843
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/tasks.parquet b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2142211ffc6635f4463401fde9c15d326b15e9e3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0348ae1690e86e662adefec06fac00d8c0ca33e6abc856eee2e9e316a91f2e42
+size 1768
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..5209df0a3b2ef92341108e66007f503b0286f73d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 34,
+  "frames": 78803,
+  "video_frames": {
+    "observation.images.head_left": 78803,
+    "observation.images.wrist_left": 78803,
+    "observation.images.wrist_right": 78803,
+    "observation.images.head_right": 78803,
+    "observation.images.tactile_deform": 78803,
+    "observation.images.tactile_raw": 78803
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 34
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d936e874caf6cce4b1ebb4234f35c978e79c32d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c5cc27bfddd8eb6d059b8dcfd89a8eb8f15b6b0052ce5cdaf08483bb18b1d1
+size 202689601
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbce37e81446bade7ddccb29131a7eda339335ca
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_27_19_29_06_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17af6381fc6025e7aa1ea9959bc56ac7da10da978e2ebaa016fe7930dee441b4
+size 88617634