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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 263, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 413, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 426, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 482, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 263, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 413, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 426, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 482, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_17_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 362, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 380, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 413, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 445, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 493, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 564, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 362, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 380, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 413, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 445, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 493, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 564, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_19_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 280, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 416, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 458, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 534, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 608, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 280, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 416, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 458, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 534, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 608, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_21_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 215, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 230, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 367, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 368, "end_step": 384, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 430, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 494, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 549, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 215, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 230, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 367, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 368, "end_step": 384, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 430, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 494, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 549, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_22_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 213, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 224, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 423, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 454, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 485, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 540, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 639, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 213, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 224, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 423, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 454, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 485, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 540, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 639, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_25_05_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 226, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 227, "end_step": 235, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 393, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 438, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 595, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 226, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 227, "end_step": 235, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 393, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 438, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 595, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_26_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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+{"source_uid": "b02a562339e181f6", "num_frames": 648, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 400, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 454, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 515, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 566, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 400, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 454, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 515, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 566, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_28_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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+{"source_uid": "84c9ab2da4320e4c", "num_frames": 712, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 231, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 371, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 372, "end_step": 392, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 410, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 441, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 490, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 535, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 231, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 371, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 372, "end_step": 392, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 410, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 441, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 490, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 535, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_30_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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+{"source_uid": "117c29a35c40f011", "num_frames": 701, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 239, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 246, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 446, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 463, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 485, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 508, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 582, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 618, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 239, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 246, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 446, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 463, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 485, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 508, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 582, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 618, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_07_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 443, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 444, "end_step": 468, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 498, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 559, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 626, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 443, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 444, "end_step": 468, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 498, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 559, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 626, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_08_46_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 269, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 270, "end_step": 389, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 586, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 269, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 270, "end_step": 389, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 586, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_10_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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+{"source_uid": "78d1e285886878dc", "num_frames": 714, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 220, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 229, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 383, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 403, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 404, "end_step": 430, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 463, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 513, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 587, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 220, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 229, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 383, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 403, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 404, "end_step": 430, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 463, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 513, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 587, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_12_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 248, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 427, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 428, "end_step": 455, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 483, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 529, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 530, "end_step": 670, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 248, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 427, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 428, "end_step": 455, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 483, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 529, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 530, "end_step": 670, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_12_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "355cdfd8c924c1f3", "num_frames": 672, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 221, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 232, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 373, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 385, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 411, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 435, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 489, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 221, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 232, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 373, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 385, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 411, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 435, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 489, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_13_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 180, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 252, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 407, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 488, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 489, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 566, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 567, "end_step": 676, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 180, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 252, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 407, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 488, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 489, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 566, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 567, "end_step": 676, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_14_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "b9a5284cda716d7b", "num_frames": 708, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 218, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 228, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 428, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 447, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 472, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 562, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 684, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 218, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 228, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 428, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 447, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 472, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 562, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 684, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_16_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 233, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 249, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 411, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 556, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 664, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 233, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 249, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 411, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 556, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 664, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_17_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "ca952ea83a18bf7a", "num_frames": 820, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 243, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 460, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 550, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 678, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 243, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 460, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 550, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 678, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_19_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 229, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 241, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 455, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 466, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 495, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 537, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 658, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 229, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 241, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 455, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 466, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 467, "end_step": 495, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 537, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 658, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_20_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "5b38a8d0d6997b27", "num_frames": 715, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 145, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 146, "end_step": 214, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 215, "end_step": 224, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 451, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 452, "end_step": 477, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 510, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 633, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 145, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 146, "end_step": 214, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 215, "end_step": 224, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 422, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 423, "end_step": 451, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 452, "end_step": 477, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 510, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 633, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_21_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "f893247b0bc453db", "num_frames": 690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 229, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 383, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 416, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 439, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 470, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 519, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 609, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 229, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 383, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 416, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 439, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 470, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 519, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 609, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_21_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "704433c46a397a66", "num_frames": 723, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 163, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 164, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 241, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 399, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 418, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 419, "end_step": 439, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 473, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 508, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 644, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 163, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 164, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 241, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 399, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 418, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 419, "end_step": 439, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 473, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 508, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 644, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_22_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4715699181810a0bb55844e002f9b94e446d3a9
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,52 @@
+{"source_uid": "08441bdf994f4611", "num_frames": 751, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 273, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 446, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 481, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 482, "end_step": 511, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 540, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 587, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 588, "end_step": 663, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 273, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 446, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 481, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 482, "end_step": 511, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 540, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 587, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 588, "end_step": 663, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_14_23_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+{"source_uid": "a200286df32ef174", "num_frames": 710, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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+{"source_uid": "28f4ab468c4bc444", "num_frames": 693, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 263, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 413, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 426, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 482, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 263, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 276, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 413, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 426, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 450, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 482, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 532, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 533, "end_step": 576, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_17_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 362, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 380, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 413, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 445, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 493, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 564, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 362, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 380, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 413, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 414, "end_step": 445, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 493, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 564, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_19_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 280, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 416, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 458, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 534, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 608, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 280, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 416, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 436, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 458, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 490, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 534, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 608, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_21_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 215, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 230, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 367, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 368, "end_step": 384, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 430, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 494, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 549, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 215, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 230, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 367, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 368, "end_step": 384, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 430, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 494, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 495, "end_step": 549, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_22_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 213, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 224, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 423, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 454, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 485, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 540, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 639, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 213, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 224, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 423, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 454, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 485, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 540, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 639, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_25_05_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 226, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 227, "end_step": 235, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 393, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 438, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 595, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 226, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 227, "end_step": 235, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 393, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 438, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 595, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_26_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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+{"source_uid": "b02a562339e181f6", "num_frames": 648, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 400, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 454, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 515, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 566, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 400, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 412, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 454, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 515, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 566, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_28_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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+{"source_uid": "84c9ab2da4320e4c", "num_frames": 712, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 231, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 371, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 372, "end_step": 392, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 410, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 441, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 490, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 535, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 231, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 371, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 372, "end_step": 392, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 393, "end_step": 410, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 441, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 490, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 535, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_14_30_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
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+{"source_uid": "117c29a35c40f011", "num_frames": 701, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 239, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 246, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 446, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 463, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 485, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 508, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 582, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 618, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 239, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 240, "end_step": 246, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 446, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 463, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 485, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 508, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 582, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 618, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_07_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 443, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 444, "end_step": 468, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 498, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 559, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 626, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 270, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 420, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 443, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 444, "end_step": 468, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 498, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 559, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 626, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_08_46_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 269, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 270, "end_step": 389, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 586, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 257, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 269, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 270, "end_step": 389, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 436, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 437, "end_step": 459, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 514, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 515, "end_step": 586, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_10_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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+{"source_uid": "78d1e285886878dc", "num_frames": 714, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 220, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 229, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 383, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 403, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 404, "end_step": 430, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 463, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 513, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 587, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 220, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 229, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 383, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 403, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 404, "end_step": 430, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 463, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 464, "end_step": 513, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 587, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_12_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 248, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 427, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 428, "end_step": 455, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 483, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 529, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 530, "end_step": 670, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 248, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 409, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 410, "end_step": 427, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 428, "end_step": 455, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 483, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 529, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 530, "end_step": 670, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_12_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "355cdfd8c924c1f3", "num_frames": 672, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 221, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 232, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 373, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 385, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 411, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 435, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 489, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 221, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 232, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 233, "end_step": 373, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 374, "end_step": 385, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 411, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 435, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 489, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 596, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_13_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 180, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 252, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 407, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 488, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 489, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 566, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 567, "end_step": 676, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 180, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 252, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 407, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 454, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 488, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 489, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 566, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 567, "end_step": 676, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_14_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "b9a5284cda716d7b", "num_frames": 708, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 218, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 228, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 428, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 447, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 472, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 562, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 684, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 218, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 219, "end_step": 228, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 428, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 447, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 472, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 562, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 684, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_16_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 233, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 249, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 411, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 556, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 664, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 233, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 249, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 411, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 504, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 556, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 664, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_17_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "ca952ea83a18bf7a", "num_frames": 820, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Unscrew Bottle Cap | Instruction: Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand. | Scene: A cup with a cap is placed on the table. The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table. | Success: The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "tags": {"task_name": "Unscrew Bottle Cap", "task_instruction": "Pick up the cup with the left hand. Then move the right hand to the cap, unscrew the cap, place the cap on the table with the right hand, and place the cup on the table with the left hand.", "scene_description": "A cup with a cap is placed on the table. 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The robot needs to hold the cup, unscrew the cap, place the cap on the table, and then place the cup back on the table.", "success_criteria": "The cap is removed from the cup, the cap is placed on the table, and the cup is placed on the table in a stable state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 243, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 460, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 550, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 678, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 230, "id": "subtask-002", "text": "Move the right hand to the cap. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 231, "end_step": 243, "id": "subtask-003", "text": "Grip the cap with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 414, "id": "subtask-004", "text": "Unscrew the cap from the cup with the right hand while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 432, "id": "subtask-005", "text": "Lift the cap away from the cup with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 460, "id": "subtask-006", "text": "Move the cap to the table with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 511, "id": "subtask-007", "text": "Place the cap on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 512, "end_step": 550, "id": "subtask-008", "text": "Move the cup to the table with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 678, "id": "subtask-009", "text": "Place the cup on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_28_14_14_23_train/POC22007_2026_03_28_15_19_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
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+                "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/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/modality.json b/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_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": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "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/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/stats.json b/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f939d8d2b019f84f5a8b43da2f936d2bab729e38
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_28_14_14_23_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb153e3c0843e084081e260728e1a91678330276
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,39 @@
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+{"source_uid": "4f16cf678fba4ce6", "num_frames": 1214, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 266, "id": "subtask-002", "text": "Pinch the bottle cap on the table with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 320, "id": "subtask-003", "text": "Lift the bottle cap from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 650, "id": "subtask-004", "text": "Align the bottle cap with the cup opening. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 1008, "id": "subtask-005", "text": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1122, "id": "subtask-006", "text": "Place the closed cup stably on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 266, "id": "subtask-002", "text": "Pinch the bottle cap on the table with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 320, "id": "subtask-003", "text": "Lift the bottle cap from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 650, "id": "subtask-004", "text": "Align the bottle cap with the cup opening. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 1008, "id": "subtask-005", "text": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1122, "id": "subtask-006", "text": "Place the closed cup stably on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_29_10_19_48_train/POC22007_2026_03_29_11_27_20_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/episodes.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dfdaa9ee86486c2747785ee689b5910b487c107a
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,39 @@
+{"episode_index": 0, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1301}
+{"episode_index": 1, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1614}
+{"episode_index": 2, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1220}
+{"episode_index": 3, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1120}
+{"episode_index": 4, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1191}
+{"episode_index": 5, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 998}
+{"episode_index": 6, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1091}
+{"episode_index": 7, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1104}
+{"episode_index": 8, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1298}
+{"episode_index": 9, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1394}
+{"episode_index": 10, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1271}
+{"episode_index": 11, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1296}
+{"episode_index": 12, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1212}
+{"episode_index": 13, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1147}
+{"episode_index": 14, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1082}
+{"episode_index": 15, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1083}
+{"episode_index": 16, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1201}
+{"episode_index": 17, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1164}
+{"episode_index": 18, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1221}
+{"episode_index": 19, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1139}
+{"episode_index": 20, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1113}
+{"episode_index": 21, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1168}
+{"episode_index": 22, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1246}
+{"episode_index": 23, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1129}
+{"episode_index": 24, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1048}
+{"episode_index": 25, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1007}
+{"episode_index": 26, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1001}
+{"episode_index": 27, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1201}
+{"episode_index": 28, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1422}
+{"episode_index": 29, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 958}
+{"episode_index": 30, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1054}
+{"episode_index": 31, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1101}
+{"episode_index": 32, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1143}
+{"episode_index": 33, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1077}
+{"episode_index": 34, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1134}
+{"episode_index": 35, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1070}
+{"episode_index": 36, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 999}
+{"episode_index": 37, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 980}
+{"episode_index": 38, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1214}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/episodes_stats.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bcc80196ef5d1ad91090d595baf811929ac11cbd
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,39 @@
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/info.json b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7e249e0790801d3811cede8c09ab176d8b0a560
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/modality.json b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_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/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/subtasks.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..901592a668bfba2dff0b76c15e28104c7c620b11
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the cup from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pinch the bottle cap on the table with the right hand. | Skill: grasp"}
+{"subtask_index": 2, "subtask": "Lift the bottle cap from the table with the right hand. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Align the bottle cap with the cup opening. | Skill: align"}
+{"subtask_index": 4, "subtask": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate"}
+{"subtask_index": 5, "subtask": "Place the closed cup stably on the table with the left hand. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/tasks.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aca9b67cc9cc4746f0de359c79f3320c33450201
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/v40_validation.json b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9a40af8adee638bbcf0bf1c25a5639d896720b7
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 39,
+  "frames": 45212,
+  "video_frames": {
+    "observation.images.head_left": 45212,
+    "observation.images.wrist_left": 45212,
+    "observation.images.wrist_right": 45212,
+    "observation.images.head_right": 45212,
+    "observation.images.tactile_deform": 45212,
+    "observation.images.tactile_raw": 45212
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 39
+}
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb153e3c0843e084081e260728e1a91678330276
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,39 @@
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/modality.json b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/modality.json
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/stats.json b/rotate_bottle_cap/season_POC22007_2026_03_29_10_19_48_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b4510a55bc23e43762d609868184f5ea5261d4
--- /dev/null
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+{"source_uid": "a927391eebb9e3e6", "num_frames": 1306, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 298, "id": "subtask-002", "text": "Pinch the bottle cap on the table with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 356, "id": "subtask-003", "text": "Lift the bottle cap from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 960, "id": "subtask-004", "text": "Align the bottle cap with the cup opening. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1082, "id": "subtask-005", "text": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1196, "id": "subtask-006", "text": "Place the closed cup stably on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 298, "id": "subtask-002", "text": "Pinch the bottle cap on the table with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 356, "id": "subtask-003", "text": "Lift the bottle cap from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 960, "id": "subtask-004", "text": "Align the bottle cap with the cup opening. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1082, "id": "subtask-005", "text": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1196, "id": "subtask-006", "text": "Place the closed cup stably on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_29_14_11_21_train/POC22007_2026_03_29_14_18_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dd39a365a74e43287c9b3bc46b8accb9cda4eff
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,32 @@
+{"source_uid": "a927391eebb9e3e6", "num_frames": 1306, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table.", "tags": {"task_name": "Tighten Bottle Cap", "task_instruction": "Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table.", "scene_description": "A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table.", "success_criteria": "The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 298, "id": "subtask-002", "text": "Pinch the bottle cap on the table with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 356, "id": "subtask-003", "text": "Lift the bottle cap from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 960, "id": "subtask-004", "text": "Align the bottle cap with the cup opening. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1082, "id": "subtask-005", "text": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1196, "id": "subtask-006", "text": "Place the closed cup stably on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Pick up the cup from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 298, "id": "subtask-002", "text": "Pinch the bottle cap on the table with the right hand. | Skill: grasp", "task_skill": "grasp", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 356, "id": "subtask-003", "text": "Lift the bottle cap from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 960, "id": "subtask-004", "text": "Align the bottle cap with the cup opening. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 1082, "id": "subtask-005", "text": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate", "task_skill": "rotate", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1196, "id": "subtask-006", "text": "Place the closed cup stably on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Twistingthebottlecap/season_POC22007_2026_03_29_14_11_21_train/POC22007_2026_03_29_14_18_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/episodes.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7240df8874fb21ce99daf04efddbb779a74b8a2f
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,32 @@
+{"episode_index": 0, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1306}
+{"episode_index": 1, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1111}
+{"episode_index": 2, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 926}
+{"episode_index": 3, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1004}
+{"episode_index": 4, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 886}
+{"episode_index": 5, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1375}
+{"episode_index": 6, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1009}
+{"episode_index": 7, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1026}
+{"episode_index": 8, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 972}
+{"episode_index": 9, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 882}
+{"episode_index": 10, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1030}
+{"episode_index": 11, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 913}
+{"episode_index": 12, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 915}
+{"episode_index": 13, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 811}
+{"episode_index": 14, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1198}
+{"episode_index": 15, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 914}
+{"episode_index": 16, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 973}
+{"episode_index": 17, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 923}
+{"episode_index": 18, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 849}
+{"episode_index": 19, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1142}
+{"episode_index": 20, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1012}
+{"episode_index": 21, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 919}
+{"episode_index": 22, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1178}
+{"episode_index": 23, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1195}
+{"episode_index": 24, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1244}
+{"episode_index": 25, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 981}
+{"episode_index": 26, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 886}
+{"episode_index": 27, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1200}
+{"episode_index": 28, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1141}
+{"episode_index": 29, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1020}
+{"episode_index": 30, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1111}
+{"episode_index": 31, "tasks": ["Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."], "length": 1258}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/episodes_stats.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0112700a4dda5657b07f3d85a3e1a4ebbf19fa75
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,32 @@
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/info.json b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a68744838adca3c5fb7da1fe167013cb17bb5c
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/modality.json b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_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/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/subtasks.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..901592a668bfba2dff0b76c15e28104c7c620b11
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the cup from the table with the left hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pinch the bottle cap on the table with the right hand. | Skill: grasp"}
+{"subtask_index": 2, "subtask": "Lift the bottle cap from the table with the right hand. | Skill: lift"}
+{"subtask_index": 3, "subtask": "Align the bottle cap with the cup opening. | Skill: align"}
+{"subtask_index": 4, "subtask": "Rotate the bottle cap with the right hand to tighten it onto the cup while the left hand holds the cup. | Skill: rotate"}
+{"subtask_index": 5, "subtask": "Place the closed cup stably on the table with the left hand. | Skill: place"}
+{"subtask_index": 6, "subtask": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/tasks.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tighten Bottle Cap | Instruction: Pick up the cup from the table with the left hand. Pinch the bottle cap with the right hand and lift it from the table. Align the cap with the cup opening, tighten it onto the cup, and finally place the cup on the table. | Scene: A cup and a separate bottle cap are placed on the table. The robot needs to hold the cup with the left hand, pick up and align the cap with the right hand, tighten the cap onto the cup, and place the closed cup on the table. | Success: The bottle cap is tightened securely onto the cup, and the closed cup is placed stably on the table."}
diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/v40_validation.json b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd9305321aa644e6f973f29df75a4d6a21fd848f
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 32,
+  "frames": 33310,
+  "video_frames": {
+    "observation.images.head_left": 33310,
+    "observation.images.wrist_left": 33310,
+    "observation.images.wrist_right": 33310,
+    "observation.images.head_right": 33310,
+    "observation.images.tactile_deform": 33310,
+    "observation.images.tactile_raw": 33310
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 32
+}
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diff --git a/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/annotations.jsonl b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dd39a365a74e43287c9b3bc46b8accb9cda4eff
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,32 @@
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+                "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/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/modality.json b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_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/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/stats.json b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffda57dd088673568fc004be6ef74d8d80befc5d
--- /dev/null
+++ b/rotate_bottle_cap/season_POC22007_2026_03_29_14_11_21_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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